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Best Dog-Friendly Camping near Milwaukee, WI

611 Reviews

Wisconsin State Fair RV Park maintains pet-friendly facilities throughout the cement paved RV sites. The park features grassy areas specifically designated for dog walking with convenient dog waste stations. Sites at this Milwaukee metro area's only RV park offer full hookups with both 30 and 50-amp electrical connections, making it practical for pet owners traveling with their furry companions. The laundry and shower facilities are kept consistently clean according to multiple campers, an important consideration when camping with pets that may need occasional cleaning. This RV-focused campground allows pets in all site types but requires them to remain on leash at all times. Menomonee Park by Waukesha County Parks and Muskego Park offer more natural settings for pets with wooded campsites and hiking trails where leashed dogs can explore.

Dog-friendly trails throughout Waukesha County Parks provide excellent exercise opportunities for pets while camping near Milwaukee. The network of trails at Menomonee Park includes both wooded paths and prairie sections with elevation changes that active dogs appreciate. Muskego Park features shorter, wood-chipped trails that are easy for older dogs or pets with mobility limitations to navigate. Pet owners should note that while swimming areas exist at several campgrounds, dogs are typically not permitted in designated beach areas. Seasonal considerations affect pet comfort - summer camping requires adequate shade and water, while spring and fall camping is often more comfortable for furry companions. Campground quiet hours are strictly enforced at most locations, with some reviewers noting issues with noise at Menomonee Park potentially disturbing pets with noise sensitivity.

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Best Dog-Friendly Sites Near Milwaukee, Wisconsin (66)

    1. Wisconsin State Fair RV Park

    7 Reviews
    Wauwatosa, WI
    3 miles
    Website
    +1 (414) 266-7035

    $55 / night

    "We stayed at State Fair RV Park in Milwaukee for two months while waiting to retire and work out bugs in our new RV. The park was all cement, it was clean and quiet."

    "This is the only RV site in the Milwaukee metro area. It was nice, clean, showers and laundry. Staff is friendly.

    Summer months May through April you do have to book 2 nights minimum."

    2. Cliffside Park Campground

    19 Reviews
    Caledonia, WI
    17 miles
    Website
    +1 (262) 886-8440

    $32 - $35 / night

    "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. "

    3. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia

    12 Reviews
    Oak Creek, WI
    16 miles
    Website
    +1 (262) 835-2565

    "This location did not dissapoint. We have not gone to this location during the warmer months but looks to be a great campground"

    4. Menomonee Park by Waukesha County Parks

    7 Reviews
    Menomonee Falls, WI
    13 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "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."

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

    39 Reviews
    North Prairie, WI
    27 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."

    6. Muskego Park by Waukesha County Parks

    8 Reviews
    Muskego, WI
    15 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "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."

    7. Pinewoods Campground — Kettle Moraine State Forest-Southern Unit

    22 Reviews
    North Prairie, WI
    25 miles
    +1 (262) 626-2116

    $18 - $30 / night

    "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)."

    "I camped for two nights in Loop 1, site 21 (24-hour quiet enforced - no pets or speakers allowed). My site was pretty open, but still had nice shade and flat areas for my tent."

    8. Pike Lake Campground — Kettle Moraine State Forest-Pike Lake Unit

    18 Reviews
    Slinger, WI
    25 miles
    Website
    +1 (262) 670-3400

    "North Kettle Moraine, Pike Lake Unit was an easy choice given it's proximity to the city- about 40 minutes."

    "They have lake swimming,dog swimming area,many trails and tons of wildlife. Sites are pretty secluded too if u get the right one.Best yet!"

    9. Naga-Waukee Park by Waukesha County Parks

    8 Reviews
    Delafield, WI
    21 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "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."

    10. Sunset Campground — Richard Bong State Recreation Area

    23 Reviews
    Burlington, WI
    30 miles
    Website

    "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"

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Recent Dog-Friendly Camping Photos near Milwaukee, WI

68 Photos of 66 Milwaukee Campgrounds

Dog-Friendly Camping Reviews near Milwaukee, WI

611 Reviews of 66 Milwaukee Campgrounds

  • Robert B.
    Oct. 1, 2018

    Kohler-Andrae State Park

    Beautiful Forested Park on Lake Michigan

    It's a one-hour drive from Milwaukee. Nice, easy hiking trails. Facilities are kept clean. LOTS of RVs, so check out the photo of site before you reserve if you want to ensure your site has at least some privacy. They have one large teepee for rent that sleeps several people with cots provided, situated on a large wooden platform at the top of a hill with views of the lake beyond for $40 a night. Make sure you attempt to reserve it well in advance.

  • Kevin Z.
    May. 28, 2019

    Kohler-Andrae State Park

    A Unique Slice of Wisconsin

    We chose to stay at Kohler-Andrae state park on Memorial Day weekend as it's close to Milwaukee (home).  This camping trip was for our family of five plus a (crazy) dog.  We reserved our site well in advance (9 mos).  We were tent and hammock camping, and situated at the far east of the campground.  The camp sites are pretty close together with not much between sites, but they were sized to fit a large tent and had enough room for us all.

    There are a couple of miles of trails at this park, and I think we covered them all, some are though the woods, another through a marsh and few that straddle the beach.  One of the most unique parts of this park are the sand dunes, and the trails through the dunes are actually boardwalk trails.  None of the hikes were strenuous, and all trails were very well maintained.  But we found ourselves completing all the hikes about 1.5 days into the camp, but we were all happy to just go back our site and relax.

    Overall we had a great time, and were happy to choose this park.  The unique landscapes were well worth it, and I think we'll be back for some day hikes during different seasons, or to just hang out at the beach.  A few drawbacks, the park is small(er), and the sites are pretty open to the world.  But if you're looking for a short jaunt from Milwaukee - this is a great option.

  • 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.

  • 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...

  • 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.

  • 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

Guide to Milwaukee

Discovering pet-friendly camping options near Milwaukee, Wisconsin, allows you to enjoy the great outdoors with your furry friends. Here are some excellent campgrounds that welcome pets and offer a variety of amenities and activities.

Pet owners like the amenities available at these campgrounds

Pet-friendly campgrounds include great activities

Tips for camping with dogs near Milwaukee

Frequently Asked Questions

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

According to TheDyrt.com, the most popular dog-friendly campground near Milwaukee, WI is Wisconsin State Fair RV Park with a 4-star rating from 7 reviews.

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

TheDyrt.com has all 66 dog-friendly camping locations near Milwaukee, WI, with real photos and reviews from campers.

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