90 campgrounds · Check availability for any dates.
Milton-Madison SE KOA accommodates pets across all camping styles, offering full-hookup RV sites, tent camping areas, and pet-friendly cabins. The campground welcomes campers from late April through mid-October with clean, well-maintained facilities that consistently earn high ratings from visitors with dogs. Elkhorn Campgrounds provides spacious sites for pet owners within walking distance to downtown Elkhorn, making it convenient for campers needing to purchase pet supplies or visit local veterinary services. Most sites in the region maintain standard pet policies requiring leashes no longer than 6 feet, proper waste disposal, and pets never left unattended at campsites. Snug Harbor Inn Campground on Turtle Lake features multiple camping tiers overlooking the water where pet owners can enjoy lakefront camping while keeping their dogs comfortable.
Dog-friendly hiking trails connect many campgrounds to the Ice Age Trail system, particularly at Kettle Moraine State Forest where pets are permitted on most pathways when leashed. The Whitewater Lake campground area provides easy access to pet-friendly water activities during summer months, though dogs must remain on leash even when swimming. Campers with larger dogs appreciate the spacious sites at Big Foot Beach State Park Campground, where camping areas feature enough room for tie-outs without encroaching on neighboring sites. Seasonal campers note that spring and fall offer ideal pet camping conditions with fewer crowds and more comfortable temperatures for dogs. Wildlife encounters are common throughout the region's campgrounds, requiring pet owners to maintain control of their animals, especially during early morning and evening hours when local wildlife is most active.
"It pays to drive through the camp ground and note a couple sites that you are interested in and then book your site at the entrance during walk in days. "
"For us it's close to home, shopping and an RV dealership so it's pefect to "shake out" the camper and we can easily get anything we forgot or get stuff to repair anything that's not working."
from $12 - $50 / night
Check Availability"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."
"Nice large sites. gravel spot for arc/trailer. fire pit and picnic table. trails for hiking are nice, but the overall camping area isn’t very big. 100 sites only. 30 with electric. this was the first time"
from $18 - $36 / night
Check Availability"I did not stay here, but I spend some time walking through to get a feel for the place."
"Wanted someplace close to home. Familiar with the Delavan area so was excited to find Snug Harbor. Set up went well, didn’t blow anything up! Yea! Staff was great, helped me back in."
from $15 - $45 / night
Check Availability"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
Check Availability"You are in walking distance of the lake with boat ramp, kayaking and water inflatables. I loved it! Also, there is a store with full kitchen."
"Easy access to electric and/or water. If unsure, contact office. Site, restrooms, and showers were clean. There are a lot of sites but still felt like there was ample space."
"Not many frills but quiet and within walking distance to downtown Elkhorn."
"No enclosed dog park but plenty of area to walk your dog!"
"I'm going to try to make it a couple times. so much fun, just me and my dog. And one last the thing, my fellow campers were more than hospitable and very nice and I appreciate that very much."
"Easy access to Ice Age Trail from the campground. Nice hike to Rice Lake."
"Making reservations at the group site was easy and ensured no other campers were near us. Beach access and a great tree canopy allowed for comfortable tent camping."
from $23 - $90 / night
Check Availability"Love this spot for proximity to my home so I can get out more frequently than a longer drive into Wisconsin and other more popular camping locales."
"Our site had the usual picnic table and a short walk to the restrooms and water. What we enjoyed the most was the variety of hiking trails."
from $20 - $35 / night
Check Availability"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
Check Availability
GuideFriendly staff and a nicely stocked store. Has a pool, petting zoo, kayaks, rocky beach, dog park, and a land pillow! The sites are spaced out well and there are more secluded sites so you have the feeling of privacy or big group sites for a big party.
GuideWe 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.
TravelerJust 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!
GuideAbsolutely 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
LegendWe enjoyed this park so much we have already been here twice and have a third trip planned for this coming September. There are very wide bike/hiking paths that are paved or stone.
The huge lake has boating opportunities and you can rent a boat in McFarland that is a short drive or bike ride. We rented a boat to fish and then drove across the lake to eat at a restaurant with boat parking.
The nature center is across the street from the campground and has a small snack bar/restaurant. There are cranes walking all around and the park is so big it has different types of plants to explore. There is an observation tower and in the picnic area a playground. The best part is the boardwalk that extents over the lake and you are walking/riding on water.
About a half a mile away is a very nice dog park that you receive admission to if you have a campsite.
Dane County has many parks in their system and we have stayed at several and all are great.
GuideWe stayed in our 42 ft motor home with jeep tow. We drove to the park in our jeep at nine am on a Sunday to check availability. If you haven’t reserved a site, there are several sites for walk-ins but you have to be present to sign/obtain them. Check out time is three pm but weekend people often leave earlier in the day and that is what occurred for us. Several sites have 50 amp plus there are thirty amp And non electric/tent sites available. The campground has showers and bathrooms but this is a county park so understand these are not hotel facilities. They are adequate for campIng. There are biking and hiking trails in and through the park and trail users also share the restrooms. The park is close to Madison. There is WiFi but the signal is variable. The ranger and campground hosts were friendly and helpful. Four legged campers on leash can walk with you on the trails and there is s nearby dog park.
TravelerGreat 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.
LegendMy first impression when I first arrived here was the overwhelming scent of a newly minted campground, what with the freshly laid gravel, the mint condition security gates, finely manicured and recently raked greenery (as it was October when we visited, it might be better described as brownery) surrounded by a fairly decent gated enclosure lined with perfectly pruned tall towering oaks. Upon arrival, you’ll find what looks to be a brand-spanking new log cabin office on the right after passing a seemingly freshly-minted activities center / community lodge complete with in-ground heated swimming pool and jacuzzi on the left.
Amenities? As you could guess, this pet-friendly 60-acre RV resort has all the attractions in spades from pickleball, playgrounds, volleyball, log pergola patio, full hook-ups (30 / 50 amp electric, water & sewage), picnic tables, fire pits, BBQ grills, wagon rides, river access, picnic areas, bathhouses w/ showers & restrooms, cable TV WiFi (pretty poor connection though), gaga ball, game room, community room, billiards table, playground, wet bar, tabletop shuffleboard, community living room with large screen TV, DVD player w/ DVD library, clubhouse, dog park, horseshoes, hot tub, covered pavilions with picnic tables, catch & release ponds, inflatable water toys, jumping pillow, laundr-O-mat, propane refueling station and dump station.
Insider’s tips? Here’s a handful: (1) This place isn’t EZ to find – for some reason, if you plug the campground into your GPS, you’ll literally be on the wrong side of the tracks, where you will arrive at a dead end with a sign that says you are in the wrong place and that you’ll need to double-back, cross the train tracks heading north and turn right just before arriving to High Road School of Belvidere (so if you see a school, you’ve gone too far); (2) You will want to take note that yes, you actually cross train tracks to get to this campground, so if you’re sharp, you’re going to want to ensure you haven’t booked a site right next to where trains will shoot through every few hours, this specifically means avoiding sites #E1-#E5 and #FS23-#FS36 as well as #FE1-#FE20; (3) If you’re a tent camper, you can certainly stay here, but you will want to note that this is very much an RV outpost; (4) The best sites IMHO are those on the northernmost perimeter, as far away from the train tracks as you can get and that also border the Kishwaukee River with sites #S9-#S20 being excellent, as well as #S25-#S81, which are equally amazing; (5) If you are planning on using that amazing pool that you saw as you came in, make sure you call management a good day or two before you come in to ensure that they turn on the heater – when we were there for 2 days, by the time we left, the pool was still too cold to go for a dip; and (6) When you grow weary of trying to conjure up a meal from the depths of your Cordova roto-molded cooler and want to venture out to try some local fare, just a short walk into the nearby town is Garden Prairie Café, which has a very simple menu offering no shortage of fried everything (fish, shrimp, chicken, etc.) and then there’s Pleasant Street Tavern, but that’s mostly cheap national beers and frozen pizza fare, so if you want something a bit more substantive, head west of here to Miles Bar N’ Grill that serves up typical Midwestern fare like cheese curds, pork tenderloin, Italian beef and a variety of fried fish like blue gill, cod and catfish.
Happy Camping!
RangerI was here for three months this time as i get to business completed. The park was still kept up very nicely and this time I was here long enough to be able to see how. The grass is mowed every week. There is patroling at all hours for security. The laundry machines are great the dryers ore good. The dog park is clean and secure. The lake is natural and kept free of litter and garbage. The park is much bigger than i thought it was last year. The store has many items you may need. The showers are cleaned and work great. The camp water is high in Iron. The pot roads need service as thay do have a lot of pot holes. Good thing for the 5mph speed limit.
Camping options near Darien, Wisconsin range across three counties with elevations varying from 750-1,100 feet in the Kettle Moraine region. The area features spring-fed lakes formed by glacial activity, creating a landscape of rolling hills and water features. Summer temperatures typically reach 80-85°F during peak camping season, with cooler nights dropping to the 50s even in July.
Hiking on varied terrain: The Kettle Moraine South Camping area provides access to numerous trail systems. "Red Trail, Paradise Trail, Rice Lake are all great hikes. Great views of Lake Ottawa," notes Cathy L. The trails accommodate different skill levels with varying elevation gains throughout the system.
Fishing opportunities: At Snug Harbor Inn Campground on Turtle Lake, campers can access lakefront fishing. "The campground sells ice, firewood and rents boats," mentions Josh F. The lake supports multiple fish species, making it productive for anglers throughout the camping season.
Water activities: Water recreation options include swimming beaches at several locations. Glenn S. notes about Kettle Moraine: "The lake is nice and there is a very nice beach as well as a fishing pier." Many water access points include designated swimming areas with marked boundaries for safety.
Spacious campsites: Big Foot Beach State Park Campground offers roomier sites than many comparable areas. "Nice large sites, gravel spot for arc/trailer, fire pit and picnic table," explains Melissa B. Sites typically provide adequate distance between neighbors, especially in non-peak seasons.
Convenience to towns: Elkhorn Campgrounds provides easy access to nearby communities. "Simple campground in the Walworth County fairgrounds. Not many frills but quiet and within walking distance to downtown Elkhorn," reports Charles S. This proximity allows campers to access supplies without long drives.
Clean facilities: Campgrounds in the region maintain reliable cleanliness standards. Belinda R. mentions that Big Foot Beach offers "Clean sites, Lake Geneva swimming, friendly staff not far from Lake Geneva and stores for food and supplies." Maintenance schedules typically include daily bathroom cleaning and weekly deep cleaning during summer months.
Seasonal considerations: Fall camping offers advantages at several locations. Belinda R. notes of Big Foot Beach: "The fall is beautiful and less crowded." Most campgrounds in the area remain open through mid-October, with some offering limited winter availability.
Campsite privacy varies: Site selection impacts privacy levels throughout the region. At Whitewater Lake, Abbe W. shares: "The campground was clean and quiet. We were in the East Loop." Research specific loops and site numbers when booking to understand vegetation barriers and spacing.
Wildlife awareness: Encounters with local wildlife require appropriate preparation. "We saw a guy with a catfish the size of my forearm," reports Kelsey H. at Kettle Moraine South. Beyond fish, campers should expect deer, raccoons, and numerous bird species throughout the camping areas.
Water recreation options: Rock Cut State Park provides family-friendly water features. "One of the greatest assets here is the very massive Pierce Lake, which is great for fishing, boating, kayaking and swimming," states Stuart K. Most lakes in the region have designated swimming areas with gradual entry points suitable for children.
Playgrounds and activities: Several campgrounds offer dedicated play areas for children. Brenton S. says of Elkhorn Campgrounds: "Great location to visit Lake Geneva or see a concert at Alpine Valley. There's a shuttle from the campground." These facilities provide entertainment options during downtime between outdoor adventures.
Educational opportunities: Nature programs enhance family camping experiences. "Pick Up the activity book for kids it is a great adventure lots to do at the lake!!!" recommends Jill G. about Kettle Moraine South Camping. Ranger-led programs typically occur weekend evenings during summer months.
Hookup availability: Milton-Madison SE KOA accommodates various RV needs. "It is very nice campground with plenty of large sites. The staff is very helpful and friendly," shares Dreama P. Most sites include water and electrical connections, with select locations offering full hookups.
Site leveling considerations: Terrain throughout the region creates leveling challenges at some campgrounds. Steven P. notes about Scenic Ridge Campground: "Fairly large sites, problem is getting into them. Our site was downhill so that presented quite the challenge to level out." Bringing additional leveling blocks proves useful at most locations.
Reservation timing: Securing preferred sites requires advance planning. Jeff G. advises about Milton-Madison SE KOA: "The pull through space was level and allowed staying hooked up to truck. Full hook ups was nice for the last stop before parking til next trip." Holiday weekends typically require reservations 3-6 months in advance for prime RV spots.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Darien, WI?
According to TheDyrt.com, the most popular dog-friendly campground near Darien, WI is Rock Cut State Park - Staghorn Campground with a 4-star rating from 79 reviews.
What is the best site to find dog-friendly camping near Darien, WI?
TheDyrt.com has all 90 dog-friendly camping locations near Darien, WI, with real photos and reviews from campers.
Keep Exploring
