Best Dog-Friendly Camping near Lake Mills, WI

Sandhill Station State Campground's walk-in only sites welcome leashed pets throughout the oak savanna landscape. Located in the Lake Mills Wildlife Area, the campground maintains 15 standard sites and one group site where dogs can join their owners. The campsites sit 100-500 yards from the parking area, requiring campers to carry in all gear including pet supplies. Picnic tables and fire rings are available at each site, making meal times comfortable for campers and their four-legged companions. River Bend RV Resort also accommodates pets with spacious sites featuring full hookups including water, sewer, and 50-amp electrical service. The sites remain level and clean, providing ample room for RVs, tents, and cabins where pets are permitted. Sites at Hickory Hills Campground offer both sunny and shaded options for campers with dogs, all within 30 minutes of Madison.

Trails near these pet-friendly campgrounds provide excellent exercise opportunities for dogs, though owners should remain vigilant about wildlife encounters. The oak savanna at Sandhill Station becomes particularly mosquito-heavy in summer months, making spring and fall better seasons for camping with pets. During warmer weather, pets need access to shade and plenty of water, especially at sites with limited tree coverage. While dogs enjoy swimming in the small beach areas at Hickory Hills, the campground pool remains off-limits to pets. Nearby Dorothy Carnes County Park offers additional hiking trails where leashed dogs are welcome. Seasonal campers at these parks often use golf carts to transport themselves and their pets around the grounds. For emergency veterinary care, facilities are available in nearby Fort Atkinson and Madison, both within reasonable driving distance from these campgrounds.

Best Dog-Friendly Sites Near Lake Mills, Wisconsin (99)

    1. Lake Kegonsa State Park Campground

    23 Reviews
    Stoughton, WI
    18 miles
    Website
    +1 (608) 873-9695

    "Good hiking around the lake and mostly dog friendly. Nice play ground with horse she pits."

    "Just a quick 2 hour drive from our home in Chicago, with large wooded sites for privacy. Clean bathrooms."

    2. River Bend RV Resort

    6 Reviews
    Lake Mills, WI
    6 miles
    Website
    +1 (920) 261-7505

    "Don’t forget the lake and floating obstacle course. Dog park, baseball field, the list goes on. The dump station lanes need some attention, more than gravel would be great."

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

    39 Reviews
    North Prairie, WI
    24 miles
    Website
    +1 (262) 594-6200

    "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."

    4. Hickory Hills Campground

    12 Reviews
    Edgerton, WI
    14 miles
    Website
    +1 (608) 884-6327

    $42 / night

    "The sites close to the store are so nice! wooded and somewhat private. Love that they have a sparkling clean (but cold!) pool and a lake with a beach!"

    "Our site was nicely wooded and a decent size, but everyone was pretty close to each other. When we were there, the women's shower was freezing and the men's was almost uncomfortably hot."

    5. Milton-Madison SE KOA

    18 Reviews
    Edgerton, WI
    18 miles
    Website
    +1 (608) 868-4141

    "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."

    6. Pilgrims Campground

    6 Reviews
    Fort Atkinson, WI
    9 miles
    Website
    +1 (920) 563-8122

    "We were located on the end of the row and had lots of grass to enjoy. Owner was very friendly and helpful"

    7. Sandhill Station State Campground — Lake Mills Wildlife Area

    2 Reviews
    Lake Mills, WI
    2 miles
    Website
    +1 (920) 648-8774

    "Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. It features 15 campsites and 1 group campsite in an oak savanna, with varying degrees of shade."

    8. Whistlestop Campground

    3 Reviews
    Marshall, WI
    10 miles
    Website
    +1 (608) 655-3080

    $47 - $57 / night

    9. Valley View Recreation Club - Nudist

    2 Reviews
    Cambridge, WI
    10 miles
    Website
    +1 (608) 770-8872

    $18 - $95 / night

    10. Badgerland Campground

    8 Reviews
    Stoughton, WI
    17 miles
    Website
    +1 (608) 873-5800

    $40 - $60 / night

    "Very family and pet friendly with activities, lake and bar. Really enjoyed our overnight stay on a cross-country trip - highly recommend!"

    "We booked in VIP 1, which is right next to the bath house. We wanted to be close to the showers (coin op). We figured since we’re at a sporting event that might be nice. Very quiet at night."

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Dog-Friendly Camping Reviews near Lake Mills, WI

754 Reviews of 99 Lake Mills Campgrounds


  • Rose F.
    Sep. 26, 2020

    Crazy Horse Campground

    A little something of everything

    Friendly 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.

  • Jimmy P.
    Oct. 1, 2016

    Sandhill Station State Campground — Lake Mills Wildlife Area

    Really nice, quiet semi-rustic camping experience

    Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. It features 15 campsites and 1 group campsite in an oak savanna, with varying degrees of shade. What makes this campground a bit different is that all 15 standard sites are carry-in only. The parking lot is anywhere from 100-500 yards from the campsite, depending on which one you choose. There isn't anywhere to buy firewood, so buy from a local resident/gas station. There are showers/flush toilets at the nearby Glacial Drumlin office in Lake Mills, but none on site, only pit toilets.

    The campsite we were on was spacious, private, and beautiful. We had two large oak trees on either side of our site, giving us a good amount of mixed shade. We walked over to Mud Lake (in the park), and only saw sandhill cranes flying, not standing in the water. Also nearby is Aztalan State Park and Aztalan museum. The state park is beautiful grassland and prairie, and the Crawfish River flows along side the park. There are hiking trails as well as guide tour booklets. The museum has a small fee, but is a collection of Native American artifacts as well as things from local residents and their ancestors.

    Overall, the campground is a nice choice if you want a private, quiet getaway into the oak savanna of southern Wisconsin. I wouldn't go in the middle of summer, due to the limited shade, but it was very nice in early fall.

  • 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.

  • Pat M.
    Jun. 12, 2019

    Milton-Madison SE KOA

    Great stay

    Just 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!

  • Lori H.
    Aug. 1, 2018

    Indian Trails Campground

    Lots of wholesome family fun

    Pond, pool, snack shop, kayak rentals, fishing pond, family bicycle course with helmets, dog park, lots of activities/themes, reasonably priced, and clean!

  • A
    Jun. 19, 2023

    Glacier Valley Campground

    Fun place

    Nice, clean, well maintained campground with something for everyone. Swimming pond is huge with toys for everyone. You can bring your own pool toys. Sites are decently spacious and decently level with some gravel and some grass. Bathhouse is nice & clean. Office/store has some logo goodies as well as any necessities you may need. They had a beer tasting going on, live music at the pavilion- both on a Saturday during our stay. A couple trails around for walks with dogs & a dog park. Lively campground during the day but nice & quiet at night with quiet hours being 11pm-8am.

  • 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

  • Debra M.
    Jul. 29, 2021

    William G. Lunney Lake Farm Campground (Dane County Park)

    So Much to Do Worth a Second Visit

    We 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.

  • D
    Aug. 8, 2025

    Lantern DeForest

    nice clean quiet

    My first time at a campsite and new to the rv life. This campground is nice and so are the employees grass gets cut every week, the pool is clean, so is the dog park, my husband likes going to the camp bathroom for a hot shower because our rv only has 10 gallons of hot water. We did 3 months at the camp!


Guide to Lake Mills

Wisconsin's oak savanna landscape around Lake Mills creates ideal habitat for wildlife with its mix of grasslands and scattered oak trees. Situated at around 860 feet elevation, the area experiences moderate summer temperatures averaging 75-85°F, though humidity can be high. Camping in this region offers access to the Glacial Drumlin State Trail, a 52-mile converted rail corridor connecting Cottage Grove and Waukesha.

What to do

Hike the Ice Age Trail: The Scuppernong section near Ottawa Lake Campground provides scenic hiking through kettle moraine terrain. "We intended hiking the Scuppernong section of the Ice Age Trail. It's absolutely gorgeous and will be why we come back again," notes Linda N.

Visit Little Amerricka Amusement Park: Located near Marshall, this vintage amusement park offers affordable family fun. Campers at Whistlestop Campground enjoy easy access. "The train comes through every hour during the day to pick you up and take you to the next door amusement park which was a lot of fun we spent the entire day there. And the amusement park itself was not too expensive," shares David H.

Explore natural springs: The region features several freshwater springs worth visiting. "Hiking to see the natural springs which is the coolest!! Drank fresh spring water!" says Autumn S. about her experience near Ottawa Lake.

Fishing opportunities: Multiple lakes offer fishing for various species. "Rice Lake provides direct access where you'll catch no shortage of blue gills, small and large mouthed bass, bullheads and crappie," according to Stuart K. who stayed at Hickory Hills.

What campers like

Clean facilities: Lake Kegonsa State Park receives high marks for maintenance. "Clean facilities, friendly staff, and great trails. No bugs!" reports Brendan E., while Matt N. adds, "Clean bathrooms with showers. Good sized site with nice privacy."

Swimming options: Many campgrounds offer water recreation. "Nice swim pond, great pool, fishing...you name it, it's probably here," Michael T. shares about his stay at River Bend RV Resort. The nearby beaches provide relief during hot summer days.

Spacious campsites: Campers appreciate the ample room at Badgerland Campground, where "very generous spaces, nice features (swim pond with a huge bouncy float, etc)" impressed Stephen C., who also noted the campground is "well laid out, well-maintained."

Event weekends: Seasonal activities keep campers entertained. "Every weekend there are activities planned from wine tasting to Halloween trick or treating," mentions Margo S. about Hickory Hills Campground.

What you should know

Road noise varies by location: Some campgrounds experience traffic noise. "The road noise is absolutely noticeable. It was incredibly loud when we drove through the loop closest to the highway and was significantly better even just one section over," Linda N. warns about Ottawa Lake Campground.

Low-clearance hazards: RV owners should watch for obstacles. At Milton-Madison SE KOA, campers report "an oak tree near entry with low branches and it took the AC off our friend's fifth wheel. There is also a low hanging overpass and it took the roofs off TWO fifth wheels while we were staying there," cautions Kathy L.

Limited shower facilities: Some campgrounds have minimal bathroom amenities. At Badgerland, "There are exactly TWO unisex showers and FOUR unisex 'restrooms' (sink and toilet), with one shower and two restrooms currently 'closed,'" notes Stephen C.

Seasonal considerations: Spring and fall offer better conditions for camping with pets. "These would be lovely sites in the fall or Spring," Tawnie T. recommends about Sandhill Station, noting summer mosquitoes can be overwhelming.

Tips for camping with families

Look for campgrounds with activities: River Bend RV Resort offers numerous family amenities. "So much good about this campground! Great management, really great food at the bar & grill. Clean sites, friendly people. Holiday weekends get a little crazy, in both good and bad ways," writes J T S., who appreciates the "swim pond with a huge bouncy float."

Consider off-peak timing: Weekdays offer a quieter experience. "Beautiful sites super quiet," Heather H. shares about her weekday stay at Lake Kegonsa State Park.

Reserve spots near amenities: Strategic site selection enhances convenience. "We booked in VIP 1, which is right next to the bath house. We wanted to be close to the showers," explains Jaime P. from Badgerland Campground.

Bring bicycles: Paved loops make for kid-friendly riding areas. "My kids loved riding their bikes around the loops, roasting marshmallows at night and spotting wildlife along the nature trails," shares Maria Mercedes M. about her pet-friendly camping experience at Pilgrim's Campground.

Tips from RVers

Watch site sizes: Not all campgrounds accommodate larger vehicles. "Campsites are nice and neat with bathrooms close by!" David Q. says about Lake Kegonsa State Park, though others note size limitations at some locations.

Consider full hookup availability: Services vary by campground. "Large VIP drive through sites. Small swimming area. Catch and release pond. Clean bathrooms and showers," Lori S. summarizes her experience at Badgerland, noting "No sewer hook up but there is a dump site."

Check seasonal site options: Many campgrounds offer longer stays. "We've been seasonal campers here for over 30 years," mentions Chrystal B. about Hickory Hills, highlighting the popularity of extended stays in the area.

Verify Wi-Fi availability: Connectivity varies significantly between campgrounds. "WiFi was great in some areas, non-existent in others. No cell carrier works well here at all," warns J T S. about River Bend RV Resort.

Frequently Asked Questions

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

According to TheDyrt.com, the most popular dog-friendly campground near Lake Mills, WI is Lake Kegonsa State Park Campground with a 4-star rating from 23 reviews.

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

TheDyrt.com has all 99 dog-friendly camping locations near Lake Mills, WI, with real photos and reviews from campers.