Best Pet-Friendly Camping Near Saukville, WI

Harrington Beach State Park Campground features pet-friendly campsites with clean, well-maintained facilities near Lake Michigan. Electric sites accommodate tents, RVs, and cabins with fire pits and picnic tables included. Waubedonia County Park in Fredonia offers a smaller, inexpensive alternative for pet owners seeking a quiet riverside camping experience. Both parks enforce standard pet policies requiring dogs to remain leashed at all times outside vehicles. Sites at Harrington Beach provide ample space with grassy areas and some privacy between neighboring campers. The ultra-clean bathrooms and showers at Harrington Beach receive consistent praise from campers with pets, making longer stays more comfortable.

Dog-friendly trails wind throughout Harrington Beach State Park, connecting the campground to Lake Michigan's sandy shoreline. Many hiking paths are relatively easy with clear markings, suitable for walking dogs of all sizes and abilities. The pet beach area requires attention as high water levels have affected accessibility, creating slippery rocks that pose safety concerns for both pets and owners. Wildlife encounters are common in the parks, with campers frequently spotting deer along trails. During summer months, the limited shade at Harrington Beach campground becomes noticeable, making portable canopies essential for keeping pets cool. Harrington's prairie-like setting offers expansive views but minimal natural protection from sun and heat. Dog-friendly campgrounds near Saukville are well suited to campers who want structured facilities alongside access to natural shoreline and wooded paths.

Best Dog-Friendly Sites Near Saukville, Wisconsin (58)

    1. Harrington Beach State Park Campground

    19 Reviews
    Belgium, WI
    10 miles
    Website
    +1 (262) 285-3015

    "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."

    "Large dune-like area behind us that gave us something to look at, but helped maintain privacy. The lake was a short bike ride from our site, and we enjoyed walking the beach and attached trails."

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

    43 Reviews
    Campbellsport, WI
    19 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!"

    3. 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."

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

    18 Reviews
    Slinger, WI
    19 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!"

    5. Lazy Days

    5 Reviews
    West Bend, WI
    10 miles
    Website
    +1 (262) 675-6511

    $31 - $43 / night

    "Swimming lake was very warm and clean. Fishing was available. Very affordable canoe kayak rentals. Mini golf and a little store where if you need it they have it."

    6. Kettle Moraine State Forest Long Lake Campground

    16 Reviews
    Campbellsport, WI
    22 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."

    7. Lake Lenwood Beach and Campground

    5 Reviews
    West Bend, WI
    12 miles
    Website
    +1 (262) 334-1335

    9. Menomonee Park by Waukesha County Parks

    8 Reviews
    Menomonee Falls, WI
    19 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."

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

    11 Reviews
    Campbellsport, WI
    22 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"

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Dog-Friendly Camping Reviews near Saukville, WI

409 Reviews of 58 Saukville 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.

  • 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

  • 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 “.

  • 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.

  • 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!

  • 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,


Guide to Saukville

Camping options near Saukville include several state parks and private campgrounds within a 30-minute drive. Situated in southeastern Wisconsin's glacial terrain, the region features kettle lakes formed by melting ice chunks from retreating glaciers. Summer temperatures typically range from 65-85°F, while spring and fall camping often sees 40-60°F temperature swings between day and night.

What to do

Explore Ice Age Trail segments: The Ice Age Trail runs through several campgrounds including Pike Lake. "There are three backpacking sites off the IAT - one prairie, two wooded. B2 and B3 are large," notes a camper at Pike Lake Campground.

Visit observation towers: Several dog friendly campgrounds near Saukville feature scenic overlooks. At Pike Lake, "be sure to check out the interpretive astronomy trail and take the walk up Powder Hill to the tower!" A camper at Long Lake Campground mentions "huge biking trail that's about 7 miles long one way, good beaches and great lake."

Kayaking on quarry lakes: Multiple parks feature unique swimming quarries. "The quarry and the beach area were great, and there were a ton of picnic spots overlooking the lake," reports a visitor to Harrington Beach State Park.

What campers like

Private wooded sites: At Mauthe Lake Campground, "sites are well separated for privacy. Also, the shower house is perfect for an end of the day washing. The lake itself is great for canoeing or kayaking."

Sandy beaches: Lake Michigan access is a major draw. A camper at Kohler-Andrae State Park reported "Beautiful state park right on Lake Michigan. Sunrises so, so beautiful. This campground has everything! Trails, dunes, marshes, forests, and Lake Michigan."

Wildlife viewing opportunities: Many sites offer nature observation. "We had a nice private campsite that was completely wooded all around it. The campsite had a fire pit and picnic table that were both in great condition," shared a visitor about the tent non-electric campsites.

What you should know

Site selection matters: Choose sites based on specific needs. At Pike Lake, "it's small and has relatively little privacy so you'll make quick friends with your neighbors - unexpected from a state park."

Water quality varies: Some campgrounds report water issues. One visitor to Lake Lenwood noted "the water smelled like rotten eggs. After getting home and taking two of the children to the doctor for an illness that was caught while in the campground, we found that the smell from the hot water in the showers was actually from bacteria in the water."

Seasonal conditions affect swimming: Water quality testing can impact beach access. "If you stay here do not swim. They have 2 beaches, they test one for ecoli and close it but leave the other one open because they don't have to test both. It's 50 feet away," warned a camper at Long Lake.

Tips for camping with families

Kid-friendly campgrounds: Families appreciate parks with diverse activities. At Menomonee Park, "The park has a lot of trails for hiking, biking and some horse trails. The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards."

Bicycle-friendly camping: Many campgrounds feature dedicated cycling paths. "Nice clean swimming and lots of hiking and biking options," notes a visitor to Mauthe Lake. Another camper adds, "We loved the nice paved roads for bikes and rollerblading and the beaches were really clean."

Look for playgrounds: Several campgrounds include play areas. "Nice beach/swimming area, bike path, and playground for the kids. Also the most beautiful sunset over the lake and pines in July," shares a Mauthe Lake visitor.

Tips from RVers

Electric site options: For RVers needing hookups, check availability carefully. In Long Lake Campground, one camper noted "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."

Campground layout challenges: Some parks have tight turns for larger RVs. At Pike Lake "there is a TIGHT turn in the campground loop near site #17 to be aware of with longer trailers. Generally, the inner ring is electric (except #23) and the outer ring is non-electric."

Dump station access: Not all campgrounds offer full hookups. "Campground facilities are clean, 30 amp at the electrical site worked perfectly," shared a visitor to Mauthe Lake.

Frequently Asked Questions

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

According to TheDyrt.com, the most popular dog-friendly campground near Saukville, WI is Harrington Beach State Park Campground with a 4.4-star rating from 19 reviews.

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

TheDyrt.com has all 58 dog-friendly camping locations near Saukville, WI, with real photos and reviews from campers.