Best Dog-Friendly Camping near Kiel, WI

High Cliff State Park Campground in Sherwood accommodates pets throughout its tent, RV, and cabin sites. Most campgrounds near Kiel enforce standard leash policies, typically requiring dogs to be kept on leashes no longer than 6 feet. Kohler-Andrae State Park, Plymouth Rock Camping Resort, and Kettle Moraine State Forest all welcome pets with their established pet areas. Broughton Sheboygan Marsh Park Campground offers electric hookups and water access for campers with dogs. Campsites in these areas feature typical amenities including picnic tables, fire rings, and access to drinking water. While some campgrounds charge additional pet fees ranging from $2-5 per night, many include pets in the standard camping rate. Very few campgrounds in this region offer dedicated dog park areas or off-leash zones.

The Kettle Moraine State Forest trail system provides excellent hiking opportunities for dogs and their owners, with multiple interconnected paths ranging from easy walking trails to more challenging terrain. Dogs must remain leashed on all trails due to wildlife concerns, particularly aggressive raccoons that have been known to enter campsites. Water access varies by location—Long Lake Campground offers beach areas where leashed dogs can cool off during summer months. Campers should note that Sheboygan Marsh Park occasionally drains the marsh to replicate drought conditions, which may limit water activities with pets. Local veterinary services are available in Plymouth and Sheboygan, both within 20-30 minutes of most campgrounds. Weather considerations include summer humidity and occasional thunderstorms, requiring adequate shelter for pets. Most campgrounds enforce quiet hours beginning at 10 PM, and excessive barking must be controlled.

Best Dog-Friendly Sites Near Kiel, Wisconsin (62)

    1. High Cliff State Park Campground

    48 Reviews
    Sherwood, WI
    22 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. "

    2. Kohler-Andrae State Park

    46 Reviews
    Oostburg, WI
    23 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."

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

    44 Reviews
    Campbellsport, WI
    23 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!"

    4. Kettle Moraine State Forest Long Lake Campground

    16 Reviews
    Campbellsport, WI
    19 miles
    Website
    +1 (920) 533-8612

    "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."

    5. Plymouth Rock Camping Resort

    5 Reviews
    Elkhart Lake, WI
    8 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."

    6. Calumet County Park

    14 Reviews
    Sherwood, WI
    20 miles
    Website
    +1 (920) 439-1008

    "The park:

    • is well kept
    • showers & bathrooms are very clean
    • has a marina
    • has hiking and cross country ski trails
    • sites are spacious
    • many sites available on the edge of the water"

    "The sites on the lake are huge!"

    7. Broughton Sheboygan Marsh Park Campground

    3 Reviews
    Elkhart Lake, WI
    4 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!!!"

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

    11 Reviews
    Campbellsport, WI
    19 miles
    Website
    +1 (262) 626-2116

    $20 - $30 / night

    "A little better than the average Wisconsin state campground."

    "The lake is rather shallow so best for swimming in early summer or warm fall days. Nicely situated in Kettle"

    9. Sundance Farm Campground

    2 Reviews
    Glenbeulah, WI
    10 miles
    Website
    +1 (920) 893-0384

    10. Greenbush Group Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    1 Review
    Glenbeulah, WI
    12 miles
    +1 (888) 947-2757

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

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Showing results 1-10 of 62 campgrounds

Dog-Friendly Camping Reviews near Kiel, WI

385 Reviews of 62 Kiel 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-Iansr

    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.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!

  • D
    Jun. 23, 2019

    Long Lake Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    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,

  • Mel C.
    Sep. 3, 2019

    Kettle Moraine State Forest Long Lake Campground

    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.


Guide to Kiel

Pet friendly camping near Kiel, Wisconsin provides access to the glacially-formed Kettle Moraine terrain. The region features drumlins, kames, and kettles created during the last ice age. Summer temperatures typically range from 70-85°F during camping season, with occasional humidity and nighttime temperatures dropping to 50-60°F.

What to do

Hiking through historic landscapes: Kettle Moraine State Forest trails incorporate historical elements alongside natural terrain. "Great place to explore with the fam. Hike the trails to see pieces of Wisconsin history throughout. Some trails on the Ridgeline offer vista views and moderate inclines that add to the adventure," notes Sam F. about High Cliff State Park Campground.

Frisbee golf courses: Broughton Sheboygan Marsh Park offers an 18-hole disc golf course for campers wanting recreational options. A visitor reports, "They have an 18 hole disc golf course and a nine hole soccer ball course. Brand new play ground added." The course weaves through the camping area, providing easy access.

Watersports on Long Lake: The shallow waters of Long Lake are ideal for families with dogs looking for safe swimming. According to Chris A., Long Lake Campground "is great for family and offers many wooded sites. The lake is rather shallow so best for swimming in early summer or warm fall days."

Beach access with facilities: Kohler-Andrae State Park offers maintained beaches with supporting amenities. "Beautiful state park right on Lake Michigan. Sunrises so, so beautiful. This campground has everything! Trails, dunes, marshes, forests, and Lake Michigan. Very well kept," reports Kathie M.

What campers like

Private wooded sites: Many campgrounds near Kiel offer secluded camping spots among trees. Brandon L. mentions about Long Lake Campground: "Very nice campground. Sites are decent sized for tenting or small camper. Almost all the sites are surround by trees and small brush so it gives a private feel."

Clean facilities: Campgrounds in the region maintain their bathroom facilities well. Sarah N. comments about Sundance Farm Campground: "The bathrooms are spotlessly clean, reliable Wi-Fi, great water/power hookups, the works. Minutes from downtown Plymouth and Road America."

Spacious lakefront sites: Calumet County Park offers larger than average camping spaces along Lake Winnebago. "Very spacious campsites close to or on the water. There is a marina if you have a boat, and the fishing is supposedly excellent," notes Edel L. These waterfront sites allow pets while providing room for equipment.

Onsite food options: Unlike many rustic campgrounds, Broughton Sheboygan Marsh Park offers dining options for campers who don't want to cook. A reviewer states, "The restaurant on site has great food though!!!" This provides convenience for pet owners who may not want to leave their animals at camp to find food.

What you should know

Seasonal water access: Water availability varies by time of year at several campgrounds. One camper at High Cliff State Park notes: "Only gripe is the uncertain schedule they have for turning on water for the season. First week or two of may is a safe bet, but no promises. They have pit toilets open year round whatever the case."

Frequently Asked Questions

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

According to TheDyrt.com, the most popular dog-friendly campground near Kiel, WI is High Cliff State Park Campground with a 4.6-star rating from 48 reviews.

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

TheDyrt.com has all 62 dog-friendly camping locations near Kiel, WI, with real photos and reviews from campers.