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Dog-Friendly Camping near Greenfield, WI

63 campgrounds · Check availability for any dates.

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    SUMMARY PRESENTED BYT-Mobile

    Wisconsin State Fair RV Park accepts pets while providing the only RV camping option within Milwaukee city limits. Most pet-friendly campgrounds near Greenfield permit dogs in both tent and RV sites, with Muskego Park by Waukesha County Parks offering spacious sites without electric hookups for a more rustic experience. Yogi Bear's Jellystone Park at Caledonia welcomes pets and provides cabin accommodations along with RV and tent sites. The concrete spots at Jellystone are particularly nice for RV camping with pets. Wisconsin State Fair RV Park functions primarily as a paved parking lot with hookups, making it suitable for overnight stays while exploring Milwaukee attractions rather than a destination for recreation with pets. There are grassy areas specifically designated for dog walking within the park.

    Kettle Moraine State Forest campgrounds offer excellent options for hiking with dogs on nearby trails. The Southern Unit features multiple pet-friendly campgrounds including Ottawa Lake and Pinewoods, both providing electric hookups, drinking water, and firewood availability for campers with pets. These parks connect to extensive trail systems ideal for dog walking. For families camping with pets, Muskego Park provides hiking trails through woods and prairie that lead to elevated viewpoints, plus a spring-fed pond for recreation. The bathrooms and shower facilities at Wisconsin State Fair RV Park are consistently clean and well-maintained, though the park can be noisy due to its location near the interstate. Most campgrounds in the area require pets to remain leashed at all times, with designated pet relief areas throughout the parks.

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    Best Dog-Friendly Campgrounds near Greenfield (63)

      1. Cliffside Park Campground

      4.3(19)13mi from GreenfieldRVs, 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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      2. Wisconsin State Fair RV Park

      3.8(10)5mi from Greenfield734 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. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia

      3.9(12)10mi from GreenfieldRVs, 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"

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

      4.3(52)24mi from Greenfield103 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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      5. Muskego Park by Waukesha County Parks

      3.9(9)9mi from GreenfieldRVs, 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. Pinewoods & Group Camp — Kettle Moraine State Forest - Southern Unit

      4.4(26)22mi from Greenfield107 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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      7. Sunset Campground — Richard Bong State Recreation Area

      4.2(24)23mi from Greenfield104 sitesRVs, Tents, Cabins

      "I would recommend this for anyone for starting to step out of the comfort zone for the outdoors. very simple, many paths to walk, jog, or ride a bike. a small lake is near the further parking lot. dogs"

      "Pros: great hiking trails, nice lake to kayak on, family friendly beach and picnic areas Cons: Not great fishing, no dog friendly swim area, the beach/fishing pier/boat launch are all pretty far from"

      from $20 - $38 / night

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      8. Sunrise Campground — Richard Bong State Recreation Area

      4.0(22)23mi from Greenfield120 sitesRVs, Tents

      "Rocket launch (bring your own,) atv (no rentals-bring your own), water fowl hunting (during season), fishing, wildlife watching, swimming at the beach, playground for kids, and my favorite- nice trails"

      "Plenty of space & foliage between sites and a nice network of trails surrounding the campground. Close to some small towns and the interstate as well, but not close enough to hear traffic."

      from $20 - $110 / night

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      9. Menomonee Park by Waukesha County Parks

      3.9(8)16mi from GreenfieldRVs, 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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      10. Naga-Waukee Park by Waukesha County Parks

      3.7(9)20mi from GreenfieldRVs, 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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    Dog-Friendly Camping Reviews near Greenfield, WI

    577 Reviews of 63 Greenfield 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.

    • 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 “.

    • 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.

    • 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,

    • 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...

    • J
      Aug. 14, 2022

      Happy Acres Kampground

      Great for families

      Staff was polite and helpful. They escort you to your spot. They hand out activity sheets for the weekend. Petting zoo, camp store, pool, lake/pond for swimming and fishing. Cell signal for ATT just one bar. No internet. Lots of full time residents. Lots of activities for kids. Pet friendly. They charge extra if you have visitors.


    Guide to Greenfield

    Camping options around Greenfield, Wisconsin range from rustic county parks to full-service private campgrounds within a 30-mile radius. The area sits at approximately 800 feet above sea level in the glaciated region of southeastern Wisconsin, characterized by kettles, moraines and drumlins formed during the last ice age. Summer temperatures typically range from 65-85°F with frequent afternoon thunderstorms in July and August.

    What to do

    Hiking on extensive trail systems: Kettle Moraine State Forest offers multiple interconnected trails accessible from Ottawa Lake Campground. "20 minute drive to the awesome Kettle Moraine biking trails. Yee haw!" notes camper Heather H. The Ice Age Trail runs through the forest with segments of varying difficulty.

    Beach swimming in spring-fed waters: The quarry at Menomonee Park provides a supervised swimming area from Memorial Day through Labor Day. "The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards," reports Matt N. Rentals for paddlecraft are available at $10/hour.

    Wildlife observation: Multiple campgrounds near Greenfield support abundant wildlife viewing. At Sunset Campground, one camper observed, "If you enjoy bird watching or rabbit spotting, this is a great place to go... I have seldom seen as many rabbits as we saw. There were relatively few campers during the week and just about every other campsite had at least a bunny or two."

    What campers like

    Spacious wooded sites: Cliffside Park Campground offers larger-than-average sites with natural separation. "Generously sized sites in wooded surroundings," writes Judy W. Another camper notes, "All sites are spacious with their own power and water. Sites 1-41 are available for first come if not previously reserved."

    Clean facilities: Consistently maintained facilities are a highlight at many campgrounds. At Pinewoods Campground, campers appreciate the well-kept amenities: "The sites in Loop 1 are varied as far as tree coverage, seclusion, and terrain. Our site (22) was relatively flat, felt secluded, had good tree coverage with some filtered sunlight. The pit toilets are about 3 sites away, a short walk."

    Privacy between sites: Campers value the separation between sites at several dog friendly campgrounds near Greenfield. One reviewer at Sunset Campground noted: "What drew me to this campground was how private the individual sites were. Each campsite is cut back into the trees so that most are at least semi-private. This was a nice feature given that many other campgrounds you are stacked in like cord wood."

    What you should know

    Reservation requirements: Most campgrounds in the area have varying reservation policies. At Cliffside Park, "The fee is $30/night plus $12 if you choose to reserve a site." Wisconsin state parks and forests require vehicle stickers ($38 annual) in addition to camping fees.

    Noise considerations: Traffic noise affects some campgrounds significantly. One camper described Wisconsin State Fair RV Park as "really a parking lot for RV camping off an interstate. Very loud and not family place but good for overnight." Similarly, at Sunset Campground, "the downside is all the noise from the road and the drag strip near by."

    Bug protection: Mosquito activity is particularly high at certain campgrounds. "It's a wetland, mosquitoes are happening, but the trade off is just about worth it," reports one Sunset Campground visitor. "Couldn't even sit outside at the site really. It would be better if they could cut back some."

    Tips for camping with families

    Beach and playground access: Naga-Waukee Park offers excellent facilities for children. "The beach on the shores of Lake Nagawicka is well-groomed, clean, has a seasonal lifeguard and a playground within earshot," says one reviewer. The beach house provides indoor plumbing and showers.

    Weekday camping for quieter experience: Several pet-friendly campgrounds near Greenfield become significantly less crowded midweek. At Muskego Park, weekday camping provides a more relaxed atmosphere with fewer campers competing for beach and trail access from June through August.

    Organized activities: Jellystone Park at Caledonia schedules regular family programming. "Great campground for families! Tons to do!" writes Carol W. Another reviewer mentions, "Plenty of things to do all day with the rec dept staff and lots of sightings of Yogi, Boo Boo, and Cindy Bear! Pool and Bear Paw beach are both nice, the kids had a blast at both."

    Tips from RVers

    Site selection at fairgrounds: The Wisconsin State Fair RV Park serves primarily as a base for Milwaukee exploration rather than a destination campground. "Well located to Milwaukee, nice clean facilities, but it is basically a large parking lot with a band of grass on the far right as you enter. We took an electric only site on the far right and were backed up against a band of grass. Full hookup sites are all blacktop."

    Hose length at county parks: Water access varies significantly between campgrounds. At Cliffside Park, "Each site has water but in order to reach some of the spigots you would need more than a 50' water hose so choose your site with that in mind."

    Dump station elevation: Wisconsin State Fair RV Park has an unusual sewage system. "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."

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Greenfield, WI is Cliffside Park Campground with a 4.3-star rating from 19 reviews.

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

    TheDyrt.com has all 63 dog-friendly camping locations near Greenfield, WI, with real photos and reviews from campers.