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Dog-Friendly Camping near Brookfield, WI

77 campgrounds · Check availability for any dates.

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    SUMMARY PRESENTED BYT-Mobile

    Ottawa Lake Campground in Kettle Moraine State Forest accepts pets at its established sites where campers can enjoy tent, RV, and cabin camping options. Wisconsin State Fair RV Park, the only RV park in the Milwaukee metro area, provides pet-friendly sites with full hookups on a paved lot. Both campgrounds feature picnic tables and fire pits at most sites, with trash collection available for pet waste disposal. The quality of city parks, especially on the east side, can vary widely, but Wisconsin State Fair RV Park stands out as one of the better options with friendly staff who accept packages for guests. Menomonee Park offers wooded pet-friendly sites with decent separation from neighbors, though some visitors note the pit toilets could be cleaned more frequently.

    Kettle Moraine State Forest trails provide excellent hiking opportunities for dogs and their owners, with miles of paths winding through forests and prairie areas. Menomonee Park features spring-fed ponds suitable for swimming and fishing, plus an archery range and dog park for additional recreation. Muskego Park offers a beach area with a sand swimming zone where some pets are permitted in designated areas. Quiet hours are not consistently enforced at some campgrounds, according to multiple visitor reports, which might be problematic for nervous pets sensitive to noise. The shower facilities at Naga-Waukee Park require a steep walk downhill from the family camping area, an important consideration when camping with pets that need regular cleaning after outdoor activities.

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    Best Dog-Friendly Campgrounds near Brookfield (77)

      1. Ottawa Lake Campground — Kettle Moraine State Forest - Southern Unit

      4.3(52)20mi from Brookfield103 sitesRVs, Tents, Cabins, Glamping

      "Huge beach area, dog park, fishing as well. Shop to buy items you may need and absolutely wonderful place. Open all year round"

      "Some have a beautiful view of lake. Some water fountains did not work, however sinks were always working. So many little trails all throughout the campsite."

      from $23 - $38 / night

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      2. Wisconsin State Fair RV Park

      3.8(10)6mi from Brookfield734 sitesRVs, Tents

      "There were plenty of grassy areas to take our dog out to potty. The Park is close to many restaurants and shopping. It is also the only RV park in Milwaukee."

      "So we just use that because no one was there. 1.7 miles on bike path to Brewer Baseball field. It was raining to we used Uber to the game and walked back for an afternoon game."

      from $55 / night

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      3. Pinewoods & Group Camp — Kettle Moraine State Forest - Southern Unit

      4.4(26)17mi from Brookfield107 sitesRVs, Tents

      "No radios or pets allowed. I'm not sure about children!"

      "I've stayed here twice, both times in August (of different years), both times in Loop 1 which is the quiet loop (no pets, no radios or other noise, 24 hours a day)."

      from $23 - $90 / night

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      4. Menomonee Park by Waukesha County Parks

      3.9(8)8mi from BrookfieldRVs, Tents, Glamping

      "Live nearby. We go there a lot over the summer. Fun park to ride bikes through. Many trails to walk or hike. The pond has a great beach for kids."

      "There are miles of nice hiking trails, a nice beach, pavilions to rent, horse riding trails, archery range and I’m sure I’m missing more."

      from $25 - $80 / night

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      5. Muskego Park by Waukesha County Parks

      3.9(9)12mi from BrookfieldRVs, Tents

      "Trails that took you through woods and then prairie and then up a decent elevation for an amazing view of the surrounding area."

      "I did not stay at this park, but did drive and walk through it to get a feel for it. There are a number of sites I'd love to tent camp in. This park is bounded by a lake with a nice beach."

      from $25 - $80 / night

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      6. Naga-Waukee Park by Waukesha County Parks

      3.7(9)13mi from BrookfieldRVs, Tents, Glamping

      "Nestled in the heart of lake country (Waukesha County) and accessible from the Lake Country Trail and Ice Age Trail, this county park is perfect for those just passing through or families looking for a"

      "Very windy weekend but I imagine during the summer it’s a great spot to camp near their big beach and lake access."

      from $25 - $80 / night

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      7. Pike Lake Campground — Kettle Moraine State Forest - Pike Lake Unit

      4.3(18)20mi from Brookfield36 sitesRVs, Tents

      "North Kettle Moraine, Pike Lake Unit was an easy choice given it's proximity to the city- about 40 minutes."

      "They have lake swimming,dog swimming area,many trails and tons of wildlife. Sites are pretty secluded too if u get the right one.Best yet!"

      from $23 - $38 / night

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      8. Cliffside Park Campground

      4.3(19)22mi from BrookfieldRVs, Tents

      "We took our dogs on all the trails (oops) but saw other people doing the same. Short drive to local attractions and all the normal things you need."

      "The campground is located about 8 miles from I-41/94 so while it is a little distance from the interstate, the drive was worth it because the park was very quiet and made for a nice restful evening. "

      from $32 - $35 / night

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      9. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia

      3.9(12)19mi from BrookfieldRVs, Tents, Cabins, Glamping

      "This location did not dissapoint. We have not gone to this location during the warmer months but looks to be a great campground"

      10. Mukwonago Park by Waukesha County Parks

      4.0(6)19mi from BrookfieldRVs, Tents

      "The rangers drive through regularly and will deliver wood to your site if requested."

      "Swim or fish in the lake, archery or huge picnic sites."

      from $25 - $80 / night

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    Dog-Friendly Camping Reviews near Brookfield, WI

    702 Reviews of 77 Brookfield Campgrounds


    • J K.
      Aug. 18, 2019

      Harrington Beach State Park Campground

      Beautiful secluded state park!

      This was our first time camping in Wisconsin and we got to say we absolutely love this park. Most of the sites are pretty secluded so if you enjoy your privacy I will love this place. Everything was clean and updated including the bathrooms. The campsites are about a mile or two from Lake Michigan but it is an easy drive or hike as there are many trails that go through the park. When we went to the lake level was up so high due to flooding that we weren’t really able to enjoy the beach but normally there is plenty of coastline for enjoying some beach time.

    • jennifer Z.
      Oct. 22, 2023

      Big Foot Beach State Park Campground

      Surprising secret camp ground

      We love private campsites, far enough away from other campers, yet close enough to amenities. We chose a walk in site #16 which was nice but I wish we chose one a bit further in. Bathrooms where very clean. Trails are great. Pet friendly - we brought our small, quiet dogs. Dog friendly restaurant right next to the camp site.

    • Pat M.
      Jun. 12, 2019

      Milton-Madison SE KOA

      Great stay

      Just became KOA met local campers that love this park! Good sites, trash pickup at side! They even have a snack bar and deliver to your campsite! No enclosed dog park but plenty of area to walk your dog!

    • Tee D.
      Jun. 12, 2021

      Kohler-Andrae State Park

      Great camp with awesome lake access

      The interior sites are a little cramped and may not accommodate larger RVs; however, the access to Lake Michigan more than makes up for it. There is a really cool dog park on the beach. While not something I typically look for in a review, the dump sites are new and excellent.

    • Annabelle G.
      Jul. 29, 2019

      Ottawa Lake Campground — Kettle Moraine State Forest - Southern Unit

      Our all-time favorite place

      Absolutely beautiful, reasonable prices, electric available. Tons of restrooms, showers, laundry, and wonderful camp hosts. Huge beach area, dog park, fishing as well. Shop to buy items you may need and absolutely wonderful place. Open all year round

    • K
      Jul. 5, 2022

      Menomonee Park by Waukesha County Parks

      Nice park

      Great park with swimming beach, trails, dog park, and archery range. Campsites were ok, not much separation or privacy at all. Pit toilets and metros desperately need to be cleaned more often. We had very noisy neighbors that did not respect the quiet hours rule and park staff did nothing to intervene. Very convenient that they drive through the Campground to sell/deliver firewood tho. I'd stay here again because the park overall is great, but I would try to choose a better site. #9 looked alright, and in the 20#s looked a bit more tree lined and bigger.

    • Phillip B.
      Jun. 9, 2021

      Harrington Beach State Park Campground

      Great place but poor pet accommodations

      Park campground is well kept as well as the facilities. Beach is nice but the area they claim is for people with pets is a long walk and the beach no longer exists as the lake has washed it away. Pet beach is just really slippery rock which is very dangerous for the pet owners and pets alike. They should fix the roads, get rid of the so called shuttle road signs as the shuttle doesn’t exist either and actually put in a “sand beach for people with pets “.

    • Julie L.
      Mar. 20, 2017

      Kohler-Andrae State Park

      Kohler-Andre

      Living rather close to this park, this is our "go-to" place to camp. It has a great variety of activities available. There is a beach AND a dog beach so it's pet-friendly. Dogs are not allowed on all of the trails, but there are many you can take them on. Being on the water, you can swim, kayak, fish, or just soak up some rays! There are also non-reservable sites available. There are many electric sites, clean bath houses, friendly campground hosts, some rather private sites as well. It's a short walk from the campsites to the lake. Our favorite site is next to the woods where we have seen ample deer, turkey, foxes, and birds. Close to town if you need supplies, firewood and ice is available in the park.

    • H
      Jul. 27, 2020

      Long Lake Campground — Kettle Moraine State Forest - Northern Unit

      Good campsite if you don’t have dogs

      We stayed 700, enough space, good hiking trail, nice beach. But the pet picnic area was pretty disappointing. Just a small opening for a dog jumping in the water. All the nice beach area was not open for a dog. My pup was pretty sad.


    Guide to Brookfield

    Camping options around Brookfield, Wisconsin include primitive to full-service sites across state forest, county, and private campgrounds. Located in the southeastern region of Wisconsin at an elevation of 830 feet, this area experiences hot summers with temperatures often reaching the high 80s and cold winters dropping below freezing. Many campgrounds remain open April through November, though Ottawa Lake in Kettle Moraine State Forest offers winter camping for those prepared for cold weather conditions.

    What to do

    Hiking on varied terrain: At Pike Lake Campground, access to the Ice Age Trail provides excellent day hiking within walking distance of campsites. "We had a hike-in of about 400 feet and decided we wanted something a little more than that and the remote sites at Pike Lake were at least 2000 feet," notes camper Eric S. The trail system includes interpretive paths as well.

    Swimming in spring-fed waters: The lake at Muskego Park offers a small swimming beach with sand area. "The best thing is probably the small man made pond. It's stocked with fish and offers a very family friendly swimming area. There's a nice little concessions stand, a little sand area, and a small pier to jump off of," writes Darren L.

    Archery practice: Both Muskego Park and Menomonee Park maintain archery ranges for target practice. "The park has a lot of trails for hiking, biking and some horse trails. The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards," mentions Matt N. about Menomonee Park's recreational options.

    What campers like

    Clean facilities: Naga-Waukee Park maintains well-kept bathroom facilities. "Heated in-door plumbing for the toilets that were open, vault toilets also available and all were clean, even off season," reports Lesley R. The park also features "a beautiful ramp enhancing wheelchair accessibility."

    Wooded campsites: Pinewoods Campground offers sites with good tree coverage. "The site was relatively flat, felt secluded, had good tree coverage with some filtered sunlight. The pit toilets are about 3 sites away, a short walk. There is room for two tents," explains Abbe W., who stayed in the quiet loop.

    Seasonal events: Winter camping at Kettle Moraine State Forest Southern Unit gives a different experience. "You can camp year around in this campground. Most recent 2 times were winter camping. No host so buying wood is an issue, but pick a site on the edge and there is more than enough free. Bring a saw. Nice place for solitude. No rowdies in winter," advises Tim H.

    What you should know

    Noise levels: Several campgrounds report inconsistent enforcement of quiet hours. At Menomonee Park, one visitor complained: "The biggest complaint is the noise into the wee hours of the morning. What good are quiet hours if they are not enforced? The people across from us were playing music and being loud well past 1:00 am."

    Road proximity: Cliffside Park Campground has road noise in some areas. "The campground is located about 8 miles from I-41/94 so while it is a little distance from the interstate, the drive was worth it because the park was very quiet," notes Nancy W.

    Reservation requirements: Dog friendly campgrounds near Brookfield often require advance planning. At Pike Lake, "We knew we didn't want to stray too far from home, especially since we were camp-breaking our dog and wanted the option to bail in case she wasn't enjoying camping as much as we do."

    Tips for camping with families

    Loop selection for pets: When bringing pets to dog-friendly camping near Brookfield, choose the right camping loop. "Firstly- don't reserve a spot in loop 1 if you have a dog. It was easy enough to change but now we know to aim for loop 2 or 3," advises Art S. about Pinewoods Campground.

    Water quality monitoring: Lakes in the area can have water quality issues during peak summer. "The lake is great for swimming, though they do have e coli warnings frequently in the heat of summer," notes Jimmy P. about Ottawa Lake.

    Playground locations: For families with children, Pike Lake offers "a lookout tower with a view of Holy Hill and Pike Lake" plus "a playground right next to" the shower facilities, making it convenient for family camping.

    Tips from RVers

    Package delivery service: Wisconsin State Fair RV Park accommodates long-term stays with helpful services. "The Park is close to many restaurants and shopping. It is also the only RV park in Milwaukee. Laundry and shower facilities were kept very clean as well," notes Anna and Michael G., who stayed for two months.

    Electric site limitations: Most dog-friendly campgrounds near Brookfield offer limited electric sites. "Not all sites here have electricity so be mindful of that while booking," mentions Linda N. about Ottawa Lake Campground.

    Sewage system variations: Dump station designs vary considerably between parks. "The sewage system is strange at this park. We couldn't reach ours during our stay and a camper had blocked the dump station so we pulled through in a vacant spot to dump. The pipe is highly elevated, making the process more hands-on than one would like," warns Kara W.

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Brookfield, WI?

    According to TheDyrt.com, the most popular dog-friendly campground near Brookfield, WI is Ottawa Lake Campground — Kettle Moraine State Forest - Southern Unit with a 4.3-star rating from 52 reviews.

    What is the best site to find dog-friendly camping near Brookfield, WI?

    TheDyrt.com has all 77 dog-friendly camping locations near Brookfield, WI, with real photos and reviews from campers.