Best Dog-Friendly Camping near Cleveland, WI

Kohler-Andrae State Park maintains pet-friendly campsites throughout its wooded grounds on Lake Michigan's shore, approximately 15 miles east of Cleveland. Pets must be leashed at all times on designated trails and campground areas, with specific pet-friendly accommodations available for tent, RV, and cabin campers. The park's campsites feature fire pits, picnic tables, and access to clean restrooms with hot showers, while offering ample space between neighbors for privacy. Most sites require standard Wisconsin state park pet rules including proof of rabies vaccination and proper waste disposal. Sites are large and spacious enough for families camping with dogs, though campers note bringing long extension cords is advisable for electric hookups.

The park's extensive trail system includes pet-accessible paths through pine forests, dunes, and along the Lake Michigan shoreline. A dedicated dog beach area allows pets to enjoy the water, particularly appealing during summer months when the clean Lake Michigan water provides an excellent swimming opportunity for both people and pets. Bathrooms and shower facilities are well-maintained throughout the camping season, making longer stays with pets comfortable. Nearby options include Plymouth Rock Camping Resort and Broughton Sheboygan Marsh Park Campground, both accepting pets with standard leash requirements. For RV campers with dogs, Village Inn on the Lake offers full hookup sites with water and sewer connections, plus access to an indoor saltwater pool. The campground is situated approximately 2 miles from Neshotah Beach, providing additional pet exercise opportunities along Lake Michigan's shoreline.

Best Dog-Friendly Sites Near Cleveland, Wisconsin (47)

    1. Kohler-Andrae State Park

    47 Reviews
    Oostburg, WI
    17 miles
    Website
    +1 (920) 451-4080

    "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."

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

    45 Reviews
    Campbellsport, WI
    31 miles
    Website
    +1 (262) 626-2116

    $18 - $28 / night

    "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!"

    3. High Cliff State Park Campground

    49 Reviews
    Sherwood, WI
    32 miles
    Website
    +1 (920) 989-1106

    "Woodsy camping, multiple hiking altitude options including cliff views of Lake Winnebago, historic burial mounds, preserved lime kilns, equine trails, picnicking area, boating opportunities and a beach"

    "No matter what your skill level you can find a trail here from easy to challenging to hike or bike. "

    4. Plymouth Rock Camping Resort

    5 Reviews
    Elkhart Lake, WI
    14 miles
    Website
    +1 (888) 707-1477

    "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."

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

    27 Reviews
    Campbellsport, WI
    28 miles
    Website
    +1 (262) 626-2116

    $20 - $30 / night

    "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."

    6. Broughton Sheboygan Marsh Park Campground

    3 Reviews
    Elkhart Lake, WI
    16 miles
    Website
    +1 (920) 459-3060

    "Plenty to do around this one as well. They have an 18 hole disc golf course and a nine hole soccer ball course. Brand new play ground added."

    "If your looking to quietly sit around the fire the marsh is great! Not much for kid entertainment except a playground and fishing. The restaurant on site has great food though!!!"

    7. Village Inn on the Lake

    3 Reviews
    Two Rivers, WI
    17 miles
    Website
    +1 (920) 794-8818

    "Right next to the lake! Indoor Saltwater Pool and Hot Tub!

    Pool Restrooms with showers available for Campers!

    Cute Mini Golf Onsite!

    Location is great!

    About 2 Miles from Neshotah Beach!"

    "Has a small private balcony overlooking woods and you can sit out front to see the lake from afar.
    I also saw the dog friendly Lakeview rooms which had two queens."

    8. Scheffel's Hideaway Campground

    6 Reviews
    Two Rivers, WI
    21 miles
    Website
    +1 (920) 657-1270

    "For families in warmer weather, we did not see a pool or playground but that is not something we look for in September in northern Wisconsin on Lake Michigan."

    "Scheffel's Hideaway Campground Two Rivers, Wisconsin We reserved a site at Scheffel's Hideaway Campground based on a comment from a camping acquaintance that the area was beautiful, friendly, and cooler"

    9. Seagull Marina and Campground

    2 Reviews
    Two Rivers, WI
    18 miles
    Website
    +1 (920) 794-7533

    "Great spot that is cheaper than most places nearby. Scott was really nice and got us checked in without any issues. Great location and near to fishing,restaurants and the beach."

    10. Harrington Beach State Park Campground

    20 Reviews
    Belgium, WI
    30 miles
    Website
    +1 (262) 285-3015

    "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"

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Dog-Friendly Camping Reviews near Cleveland, WI

322 Reviews of 47 Cleveland 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 “.

  • 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.

  • 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...

  • Adela S.The Dyrt PRO User
    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!

  • Mel C.
    Sep. 3, 2019

    Long Lake Campground — Kettle Moraine State Forest - Northern Unit

    Beautiful campground

    I have always loved this campground since I was a teen. We went this past labor day weekend and loved the nice big sites, the paved roads for bikes and rollerblading and the beaches were really clean. We loved just walking around the paths to and from the lake to our site. People were very respectful the firewood was kept in a dry spot (always a pet peeve of mine, some campgrounds dont have the best storage system). Overall great place and we will be back very soon.

  • Lesley R.The Dyrt PRO User
    Oct. 29, 2022

    High Cliff State Park Campground

    A Gem!

    Woodsy camping, multiple hiking altitude options including cliff views of Lake Winnebago, historic burial mounds, preserved lime kilns, equine trails, picnicking area, boating opportunities and a beach for swimming. Spend a day or a week! You’ll never find yourself asking what to do. I grew up in the area and have been here many, many times. To camp, to hike for the day, to trudge into the campground during winter to have a day-fire, coordinate family reunions, train with a backpack on the lime-kiln trail and swimming with the dog. Really, it’s all here. Mostly not super busy and when the traffic is heavier, everyone is very nice. Picnic areas can get buggy as can the lake get green, all depends on the time of year and season. Family and pet friendly. Great spot near the Fox Valley.


Guide to Cleveland

Kohler-Andrae State Park sits on a sandy stretch of Lake Michigan shoreline where unique dune formations and pine forests create a distinctive ecosystem. The campground maintains 135 campsites, with 52 offering electrical hookups and several cabin options. Winter temperatures typically range from 10-35°F, while summer months average 60-85°F with moderate humidity from the lake effect.

What to do

Beach activities during peak season: Lake Michigan's shoreline offers swimming between Memorial Day and Labor Day when water temperatures reach their warmest points. "The large sandy beach spans the entire length of the park" at Harrington Beach State Park, which also features "plenty of trails, a quarry, and a historical element" according to Ross K.

Explore woodland trails: Hike through pine forests and along boardwalks crossing unique dune formations. "Hiking trails are great, especially the ones through the dunes" at Kohler-Andrae State Park, notes Elliot Q., who adds it's "definitely worth the stay" for nature enthusiasts.

Fishing opportunities: Cast a line in Lake Michigan or inland waters. "We caught some large blue gill, a few crappie, perch and bass" at Kettle Moraine State Forest, explains Nicole T., who notes "it is a 'weedy' lake but when your fishing for certain fish, that's a good thing."

What campers like

Spacious, private sites: Many dog friendly campgrounds near Cleveland feature well-spaced campsites. At Mauthe Lake Campground, "the sites are well separated for privacy" according to Charles M., who adds "the shower house is perfect for an end of the day washing."

Swimming access: Beach areas provide relief during summer months. "Beautiful state park right on Lake Michigan. Sunrises so, so beautiful" at Kohler-Andrae State Park, writes Kathie M., who appreciates that the "beach [is] very nice" and there's a "large picnicking day area."

Winter camping options: Several parks remain open year-round with limited facilities. "We stayed here for 4 days in late October. Site 112 is nice pull through" at High Cliff State Park, reports Nancy S., who found that "hiking trails are short but nice" and the "Lime kiln trail is difficult but so worth it."

What you should know

Reservation requirements: Most pet-friendly campgrounds in the Cleveland area require advance booking, especially during peak season. "If you plan to camp for a weekend, you must make a reservation way in advance" at Kohler-Andrae State Park, warns Shanon P., though midweek arrivals might find openings as "we didn't have a reservation and showed up on a Tuesday and camped for a few nights."

Facility variations: Bathroom and shower availability differs between campgrounds. "Bathrooms and shower facilities remain open seasonally at most parks. "Bathhouse very nice. Very nice nature center. Laundry facilities available" at Kohler-Andrae, according to Kathie M.

Water access considerations: Lake levels can impact beach access. "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" at Harrington Beach State Park, notes J K., highlighting how conditions can change seasonally.

Tips for camping with families

Playground access: Several campgrounds offer play areas for children. At Scheffel's Hideaway Campground, Joyce S. appreciated the "nice playground and aesthetically pleasing" grounds, noting the site had its "own fire pit, and owners were extremely nice!"

Educational opportunities: Nature centers provide learning experiences. "This park has everything! Trails, dunes, marshes, forests, and Lake Michigan" at Kohler-Andrae State Park, writes Kathie M., mentioning the "very nice nature center" for kids to explore.

Kid-friendly beaches: Shallow swimming areas work best for young children. Mauthe Lake offers a "nice beach/swimming area, bike path, and playground for the kids" according to Kaylyn C., who was impressed by "the most beautiful sunset over the lake and pines in July."

Tips from RVers

Hookup availability: Electric, water, and sewer connections vary by campground. At Village Inn on the Lake, campers get access to "indoor saltwater pool and hot tub" with "pool restrooms with showers available for campers" according to Megan B., who noted it's "about 2 miles from Neshotah Beach."

Site selection strategies: Some campgrounds have better RV sites than others. "The RV sites are small.. if you have a neighbor with a slide out then you lose half of your green space" at Village Inn on the Lake, notes Amber C., though she appreciated that they "have a larger community grilling and firepit space."

Winter camping considerations: Several campgrounds accommodate cold-weather RVers with limited services. "The park campground is well kept as well as the facilities" at Harrington Beach State Park, writes Phillip B., though he cautions that pet-friendly areas may be limited as "the beach no longer exists as the lake has washed it away."

Frequently Asked Questions

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

According to TheDyrt.com, the most popular dog-friendly campground near Cleveland, WI is Kohler-Andrae State Park with a 4.6-star rating from 47 reviews.

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

TheDyrt.com has all 47 dog-friendly camping locations near Cleveland, WI, with real photos and reviews from campers.