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Dog-Friendly Camping near Cascade, WI

59 campgrounds · Check availability for any dates.

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    Kettle Moraine State Forest campgrounds welcome pets throughout their extensive network of sites, with both Long Lake and Mauthe Lake campgrounds offering pet-friendly accommodations. Dogs must remain leashed at all times except when swimming in designated pet areas. The pet picnic area near Long Lake provides water access for dogs, though pets are prohibited from the main beach areas. Campsites throughout the forest feature standard amenities including fire rings, picnic tables, and access to drinking water. The campground loops vary in privacy levels, with the 700's loop at Long Lake offering more wooded sites that provide better separation between neighbors compared to some of the more open areas.

    Harrington Beach and Kohler-Andrae State Parks provide Lake Michigan shoreline access with dedicated dog beaches. Kohler-Andrae's dog beach receives particularly positive mentions from campers with pets, though Harrington Beach's pet beach has experienced erosion issues that have reduced the sandy area to slippery rocks in some sections. The Ice Age Trail runs through several of these parks, offering extensive pet-friendly hiking opportunities. Most campgrounds maintain clean facilities with flush toilets and showers, though some parks charge additional fees for shower use. Wisconsin State Parks require both camping fees ($25-40 per night depending on hookups) and daily or annual vehicle admission stickers ($13/day or $38/year for non-residents), making longer stays more economical with an annual pass purchase.

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    Best Dog-Friendly Campgrounds near Cascade (59)

      1. Mauthe Lake Campground — Kettle Moraine State Forest - Northern Unit

      4.4(45)9mi from Cascade141 sitesRVs, Tents

      "Mauthe Lake Campground is located in the Northern Kettle Moraine Forest in East/Centreal Wisconsin."

      "Wonderful trail around the lake and a variety of different campsites. Plenty of space, very rural. Very wisconsin!"

      from $23 - $38 / night

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      2. Kohler-Andrae State Park

      4.6(47)14mi from Cascade143 sitesRVs, Tents, Cabins, Glamping

      "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."

      "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."

      from $26 - $70 / night

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      3. Long Lake Campground — Kettle Moraine State Forest - Northern Unit

      4.1(27)8mi from Cascade195 sitesRVs, Tents

      "We loved just walking around the paths to and from the lake to our site."

      "Wonderful and clean beaches and accessible areas for dogs. The sites are nicely sized and the firewood sales are decent and dry! The paved roads in the campground are nice for bike and rollerblading."

      from $23 - $38 / night

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      4. Harrington Beach State Park Campground

      4.3(20)15mi from Cascade73 sitesRVs, Tents, Cabins

      "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."

      "There is something deeply calming about waking up just steps from Lake Michigan at the Harrington Beach State Park Family Campground, where our little crew found the perfect balance of nature and comfort"

      from $23 - $40 / night

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      5. Plymouth Rock Camping Resort

      2.8(5)10mi from CascadeRVs, Cabins, Glamping

      "The race track is very close by and the noise from the cars can be pretty loud but not a deal breaker. We would probably go back."

      6. Greenbush Group Camps — Kettle Moraine State Forest - Northern Unit

      4.5(2)8mi from Cascade9 sitesTents

      "Water is usually available, but more limited during the pandemic (spigot turned off by our campsite, but available near the parking lot at the entrance - a longer walk)."

      "Grassy sites surrounded by trees (plenty for hammocks too). Short walk to pit toilets and drinking water."

      from $90 / night

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      7. Sundance Farm Campground

      3.5(2)8mi from CascadeRVs, Tents

      8. New Prospect Campground — Kettle Moraine State Forest - Northern Unit

      4.0(2)9mi from Cascade24 sitesRVs, Tents

      "Open tent sites and well designed riggings and beyond excellent, well-maintained trails, accommodations and hospitality."

      from $38 - $50 / night

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      9. Bensons Century Camping Resort

      5.0(1)9mi from CascadeRVs, Tents

      "Excellent fishing lake adjacent to campgrounds with nice boat launch and boat rentals available."

      from $25 / night

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      10. Hoefts Resort and Campground

      4.0(1)8mi from CascadeRVs, Tents, Cabins

      "There were many seasonal sites that were located in the main portion of the campground. There is a playground and a beach area. You are also able to rent paddle boats to use on the lake."

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    Dog-Friendly Camping Reviews near Cascade, WI

    393 Reviews of 59 Cascade 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.

    • 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.

    • 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.

    • 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 “.

    • 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.

    • 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.

    • Adela S.
      Jun. 21, 2025

      Breezy Hill Campground

      Great Stay!

      We have really enjoyed our stay here with our two dogs! It’s extremely clean, kid and pet friendly, with lots of amenities. Staff is incredibly friendly! The only downside is that if you want visitors, there is a $5/visitor fee. Other than that, we would absolutely come back here again!

    • D
      Jun. 23, 2019

      Long Lake Campground — Kettle Moraine State Forest - Northern Unit

      Site 907

      Our site was a bit less secluded than I’d prefer but still very nice. The loop we were on the lower 900 loop, had quite a few sites that could be combined to be group sites. Two sites completely adjoining or with very little separating them. This loop would be good for an option if the group sites are unavailable. Especially the inner loop sites that back up to each other. We walked some of the other loops and the did not all seem this way, stuff especially in the 700’s loop being a bit more wooded with some nice sites being my favorites, and also some nice sites in the upper 900’s loop that were spaced out nicely. Great hiking nearby, flush toilets, showers, nice little beach, plenty of downed wood around and also available to purchase 5$ a stack, pet friendly except no dogs allowed on the beach. There is a dog friendly picnic area near the water though. Nice get away pretty close to Milwaukee, Chicago, etc...

    • Karyn S.
      Aug. 14, 2017

      Ledge County Park

      Nice County Park

      We got a last minute reservation and stayed on the handicap site. It was half black topped but had a nice grassy area. It is right next to the toilets/showers. The bathrooms were clean, the attendants were really nice, they borrowed us an extension cord so we could set up a bit further back.

      The only issues were more sunny than I like and some people walking through our site to the bathroom.

      Site butts up to a bit of tree landscape and field behind it. The hiking is great, close to Horicon Marsh, pet friendly. We very much enjoyed our stay,


    Guide to Cascade

    Camping options abound within the Kettle Moraine area near Cascade, Wisconsin. The region features glacially formed hills and depressions with elevations ranging from 900-1,200 feet. Summer temperatures typically reach 70-85°F with cooler nights dropping to 50-60°F. Most campgrounds remain open from May through October, with limited winter access.

    What to do

    Hiking the Ice Age Trail: The extensive trail system through Kettle Moraine State Forest Long Lake Campground offers varied terrain for all skill levels. "The Ice Age trail comes through the forest and makes for some nice hiking. Flush toilets and showers are also a great perk!" notes Amy F. The trail connects multiple camping areas throughout the forest.

    Swimming in Mauthe Lake: The clean swimming areas at Mauthe Lake Campground provide summer recreation options without motorized boats. "Nice clean swimming and lots of hiking and biking options," shares Noreen T. The swimming area features designated sections with varying depths.

    Lake Michigan shoreline exploration: Sandy beaches and dunes at Kohler-Andrae State Park provide coastal experiences. "Trails, dunes, marshes, forests, and Lake Michigan. Very well kept. Bathhouse very nice. Very nice nature center," comments Kathie M. The park maintains boardwalks through sensitive dune ecosystems.

    What campers like

    Private wooded sites: The 700s loop at Long Lake offers secluded camping spots with natural barriers. "The sites are spacious and clean. Each site comes with a fire pit, grate and picnic table. We have camped in the 800s but hope to get back for more variety in the future," remarks Denise N.

    Clean facilities: Campgrounds maintain modern restroom buildings with reliable amenities. "Campground facilities are clean, 30 amp at the electrical site worked perfectly. Other campers amazingly friendly," reports Elizabeth S. Most shower buildings feature individual stalls rather than communal shower rooms.

    Nearby small towns: Local communities provide additional services and entertainment. "We got caught in a thunderstorm that we waited out in a little tavern in nearby Dundee, which is pretty much the cutest little town around," shares Angie V. Dundee's Hamburger Haus receives frequent mentions for its ice cream offerings.

    What you should know

    Reservation requirements: Wisconsin state parks require advance planning, especially for summer weekends. "If you plan to camp for a weekend, you must make a reservation way in advance," advises Shanon P. about Harrington Beach State Park. Reservations open 11 months in advance.

    Beach conditions vary: Lake Michigan water levels fluctuate, affecting shoreline access. "The pet 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," reports Phillip B.

    Campsite privacy differences: Site selection impacts your camping experience. "Our site was a bit less secluded than I'd prefer but still very nice. The loop we were on, the lower 900 loop, had quite a few sites that could be combined to be group sites," explains Darren L. Study campground maps before booking.

    Tips for camping with families

    Beach amenities: Multiple swimming options accommodate different preferences. "We much prefer the South Shore beach. North Shore is a little less populated, but the hike/stairs down into the beach area can be annoying with kids, toys, camp chairs, and a cooler full of food and beer," advises Denise N.

    Playgrounds and open spaces: Dedicated recreation areas provide gathering spots. "There is a large open area and play area for kids to run around walkable from the camping, lots of little paths to explore!" mentions Kendra G. from Greenbush Group Campground.

    Site selection for groups: Certain areas better accommodate family gatherings. "Large sites great for groups. Sites 2 and 9 are the largest. Those can each fit over 20 backpacking tents at the same time," notes Amber R. The group sites feature grassy areas surrounded by trees.

    Tips from RVers

    Electric site considerations: Electrical hookups vary between campgrounds. "The sites on the road aren't great, but at least the picnic table and fire pits are secluded with those," mentions Justin F. Most electric sites offer 30-amp service with limited 50-amp availability.

    Maneuverability challenges: Some campgrounds have tight access roads. "We were reserved, but unable to stay due to having a trailer with a car in it and not being able to unhitch to back into a site," reports angie G. from Sundance Farm Campground. Confirm site dimensions before booking.

    Site levelness: Many sites require adjustment equipment. "Nice campground, we didn't have a reservation and showed up on a Tuesday and camped for a few nights," shares Shanon P. Non-electric sites in the 200s typically have fewer RVs and more level tent pads.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Cascade, WI is Mauthe Lake Campground — Kettle Moraine State Forest - Northern Unit with a 4.4-star rating from 45 reviews.

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

    TheDyrt.com has all 59 dog-friendly camping locations near Cascade, WI, with real photos and reviews from campers.