Michelle R.
Guide
GuideSturgeon Bay Canal
The last review is correct. We wanted to confirm. There are signs all over that say camping is not allowed.
Dog-Friendly Camping near Baileys Harbor, WI
5 campgrounds with availability this weekend
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Baileys Woods Campground accommodates pets throughout its densely wooded sites, with both tent and RV camping options available in a peaceful forest setting. The campground maintains pet-friendly policies requiring dogs to remain on leash while on the property. Sites feature fire rings, picnic tables, and ample shade from the surrounding trees, creating comfortable environments for campers and their four-legged companions. The campground is completely wooded with decent space between sites, providing privacy while camping with pets. The entire area remains dog-friendly with camping options including electric-only sites, water and electric sites, and tent-only areas. Bathrooms and shower facilities are consistently clean and well-maintained across two separate bathhouse buildings located at opposite ends of the grounds.
Multiple hiking opportunities exist within minutes of the campground for visitors traveling with dogs. Located just 1.2 miles from downtown Baileys Harbor, the campground provides easy access to Lake Michigan shoreline where pets can enjoy morning walks. Door County's numerous pet-friendly trails and beaches remain accessible from this central location on the peninsula. Most tent and RV sites accommodate pets without additional fees, though owners must clean up after their animals and respect quiet hours to prevent barking disturbances. The main road in front of the campground experiences minimal traffic, making it suitable for dog walking without significant safety concerns. While the campground doesn't feature designated dog exercise areas, the spacious wooded sites provide ample room for pets to relax with their owners while remaining leashed.
Best Dog-Friendly Campgrounds near Baileys Harbor (65)
1. South Nicolet Bay Campground — Peninsula State Park
"Great walks with the dog"
"Peninsula State Park is the most popular state park in Wisconsin - and with good reason."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $26 - $51 / night
2. Wagon Trail Campground
"It is pet friendly. It is located near the water and has many trails to hike! Love this place, especially in October with the leaves changing and the festivals around town!!!!!"
"The staff is friendly and welcoming, they are pet friendly, and their sites are spacious and private - unlike so many other campgrounds we visit."
Check Availabilityfrom $40 - $150 / night
3. Newport State Park
"This is the best place to camp in Wisconsin if you’re looking for a mix of outdoor adventure and touristy activities like drive in theaters and wine tastings."
"It was a four mile loop to backpack to the campsite on Rowley's Bay Trail. I had been walking everyday for weeks leading up to this trip to strengthen my legs and toughen up my feet."
7 Sites AvailableAvailable this weekend
from $19 - $90 / night
4. North Nicolet Bay Campground — Peninsula State Park
"It felt like spring break out at the beach and boat ramp (no pets allowed on beach). North Nicolet has no power sites, all are no hookups."
"Beautiful wooded area with ready access to the water. Fantastic shower facilities. You do feel a bit packed in with your fellow campers at the adjacent sites. Not a heck of a lot of privacy."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $26 / night
5. Tennison Bay Campground — Peninsula State Park
"If you're looking for bells and whistles, lots of amenities and lots of friendly neighbors in close proximity, this is the place to go!"
"Great park we had a blast exploring and walking our dogs"
Check Availabilityfrom $26 - $51 / night
6. Baileys Woods Campground
"Kid and pet friendly including a very fun playground. It is located within a 2 to 5 minute drive from Baileys Harbor on Lake Michigan."
"walk away)!"
Check Availabilityfrom $30 - $50 / night
7. Welcker's Point Campground — Peninsula State Park
"Close to amenities like shopping & restaurants. Beautiful views. Campsites close to the boat launch are more secluded."
"It has easy access to the bike trails in Peninsula State Park. Most of the fellow campers were in tents, although there were a few pop-ups and RVs."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $26 / night
8. Daisy Field Campground — Potawatomi State Park
"Potawatomi State Park in Wisconsin sits in the northeast corner of the state in Door County Wisconsin."
"The campground is away from the water but trails leave right from the campground to get into the park and near the water...and there is a nice selection of trails to choose from. "
20 Sites AvailableAvailable this weekend
from $21 - $39 / night
9. Rustic Timbers Door County Camping
"We were nicely surrounded by woods with minimal visibility of our neighbors."
"The surrounding area is just expansive farmlands which is beautiful to look at when walking the dog in the morning.
They have fun kid things but you have to pay extra to use them."10. HTR Door County
"They are uniquely situated just outside of Egg Harbor, with plenty of the local attractions within minutes of the park."
"It is not close to a lake but is near to Green Bay. The campground backs up to a golf course though. Very well kept up and clean, with friendly staff. We will definitely go back again!"
Drive Time
- 1 hr 9 min from Green Bay, WI
- 1 hr 35 min from Appleton, WI
- 1 hr 56 min from Sheboygan, WI
- 5 hrs 58 min from Traverse City, MI
Recent Dog-Friendly Camping Photos near Baileys Harbor, WI
58 Photos of 65 Baileys Harbor Campgrounds • uploaded by The Dyrt campers
Baileys Woods Campground
Group Camps — Peninsula State Park
South Nicolet Bay Campground — Peninsula State Park
Tennison Bay Campground — Peninsula State Park
North Nicolet Bay Campground — Peninsula State Park
Welcker's Point Campground — Peninsula State Park
Hy-Land Court RV Park
Rustic Timbers Door County Camping
CAMP Door County, RV Resort & Campground
Wagon Trail CampgroundM
Newport State Park
Potawatomi State Park Group Campground — Potawatomi State Park
Dog-Friendly Camping Reviews near Baileys Harbor, WI
456 Reviews of 65 Baileys Harbor Campgrounds
- GGreg F.
TravelerCAMP Door County, RV Resort & Campground
Best campground in Door County. Best big rig campground option in Door County. We’ve stayed here twice now, June 2026, and August 2025. This is our favorite door county campground. It’s not the cheapest but it’s one of the few I’ve seen that can accommodate big rigs. We will be back again!
Matias Ignacio
ScoutFish Creek Campground
Clean, it has a park for children, clean bathrooms, close to everything, reasonable price. I called last minute on Saturday and they got me a spot right away. I suppose to check out at noon Sunday but they allow us to stay longer with no extra charge so the kids can still playing during the day. (No every rv park allow that) so thank you guys 👌
- UUrsula
RangerFayette Historic State Park Campground
Historic buildings close by, nice campground
The first thing we noticed driving in is that the wash house closes today 10/14 at 4 PM for the season, which isn’t an issue for us. Open sites, walkways to a rocky beach, but also trail to a sandy beach. Our site is not level.
Mary Ann M.GuideBaileys Grove Travel Park and Campground
Fall Camping
Nice campground. Some with full hook up and some with just water and electricity. We were on site 404 with just water and electricity. There are a couple of business next to the campground, so can't really touch base with nature. But it is home base. One major bathroom and the rest is porta potties. Nice staff and accommodations are clean.
SkywaystoHighways.com Y.
LegendSouth Nicolet Bay Campground — Peninsula State Park
Family paradise
This is a lovely campground for families. Easy access to the lake for fishing and kayaking. The water side sites are great! Clean facilities and hot showers. Our next door site neighbors had 12 kids between their 2 sites. You can imagine we did not have a peaceful experience here. Neither the parents nor Camp host gave 2 hoots about quiet hours. The kids were screaming and running through our campsite well after 11 pm each night. Which leads me to my only 2 issues with this campground. There are few cut-throughs to access the bathrooms, so at any moment a stranger could be found unapologetically walking right thru your site. Issue two… I urge you to stead clear of booking site 810. The dishwashing/water station is located inside this site. Not near the road like the rest of them but, inside the site. We spent our evening with either screaming children using it as “safe” zone for freeze-tag, or the entire loop washing their dishes. Not fun….
- SkywaystoHighways.com Y.Legend
Bay Shore Park
Great campground !
Great campground! Friendly staff and meticulously clean restrooms! Free showers and only $2.00 for laundry. Some of the sites are seemingly conjoined for lack of privacy in between however, most are level and all have fire pits as well as picnic tables. Easy lake access and playgrounds for the kiddos. Had to try out the bouncy house ourselves and had a blast! All in all, a wonderful stay.
- SScott B.Traveler
Wagon Trail Campground
Great campground in Door County
Clean, large sites, many shaded. Excellent management. Lots to do on the peninsula.
haley W.TravelerVeterans Memorial Park Campground
Tranquil, rustic, family friendly
I absolutely loved it here first time staying and will be back many more! Would've given 5 starts if the sites had electricity, but theres still plug in over by the pavilion. Definitely a gem of a find.!!!!
Guide to Baileys Harbor
Baileys Woods Campground's wooded pet-friendly sites provide a quiet retreat for campers with dogs in Door County. The campground features full hookup RV sites, tent camping areas, and some sites with water and electric connections, all nestled within a forested setting. Dogs must be kept on leash throughout the property, with multiple portable toilets and clean shower facilities accessible to pet owners. Campers consistently note the peaceful, shady environment makes the campground feel similar to staying in a state park. The heavily wooded setting offers reasonable separation between sites, creating privacy while allowing pets to enjoy the natural surroundings. Located just 1.2 miles from downtown Baileys Harbor, the campground provides convenient access to Lake Michigan beaches where many dogs can accompany their owners.
Hiking trails throughout nearby Peninsula State Park and Newport State Park welcome leashed dogs, with several campgrounds in the area including HTR Door County and Wagon Trail Campground also accommodating pets. The 5 mph speed limit throughout Baileys Woods helps ensure pet safety while walking through the campground. Most Door County beaches permit leashed dogs, though seasonal restrictions may apply during summer months. While camping with pets, owners should be prepared for woodland wildlife encounters and varying weather conditions. The proximity to Bailey's Harbor's downtown area provides quick access to pet supplies and veterinary services when needed. Firewood sold on-site for $15 per wheelbarrow allows campers to enjoy evening campfires with their pets nearby while exploring Door County's pet-friendly attractions.
Frequently Asked Questions
Which is the most popular dog-friendly
campsite near Baileys Harbor, WI?
Which is the most popular dog-friendly campsite near Baileys Harbor, WI?
According to TheDyrt.com, the most popular dog-friendly campground near Baileys Harbor, WI is South Nicolet Bay Campground — Peninsula State Park with a 4.6-star rating from 32 reviews.
What is the best site to find
dog-friendly camping near
Baileys Harbor, WI?
What is the best site to find dog-friendly camping near Baileys Harbor, WI?
TheDyrt.com has all 65 dog-friendly camping locations near Baileys Harbor, WI, with real photos and reviews from campers.
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