133 campgrounds · Check availability for any dates.
Token Creek County Park accommodates pets in a quiet, wooded setting just 10 minutes from Waunakee. All 27 camping sites permit dogs, with a mix of electric and non-electric options on level terrain with mature trees providing shade. William G. Lunney Lake Farm Campground, located south of Waunakee near Madison, offers additional pet-friendly sites with convenient lake access where dogs can cool off during summer months. Both parks maintain standard leash requirements for all pets and provide waste disposal stations throughout the grounds. Campsites include fire rings, picnic tables, and access to clean shower facilities. Sites remain reasonably priced between $30-40 per night, though several visitors note the importance of bringing extension cords as electrical hookups can be some distance from RV parking areas.
The nearby boardwalk trail at Token Creek provides an excellent morning walk option for dogs, with multiple hikers reporting wildlife sightings including rabbits and chipmunks along the paths. For campers seeking full hookups, Lantern DeForest features a dedicated fenced dog park with agility equipment where pets can exercise off-leash. Madison KOA Campground, accessible within 15 minutes of Waunakee, provides similar amenities plus grassy walking areas throughout the grounds. Most campgrounds in the area maintain quiet hours starting at 10pm, which helps manage barking and disturbances. Sites at county parks tend to fill quickly during summer weekends and holiday periods, requiring reservations well in advance for those traveling with pets. The campgrounds experience significant mosquito activity during summer months, particularly near wetland areas, so appropriate pet-safe insect protection is advisable.
"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. "
"If you haven’t reserved a site, there are several sites for walk-ins but you have to be present to sign/obtain them."
from $18 - $28 / night
Check Availability"Like other reviewers have stated, be prepared to be close to others. We didn’t mind at all and found everyone to be super nice."
"General: Small county park campground (28 sites) located on Lake Mendota Site Quality: All sites were level and generous in size. Camper pads were somewhat gravel but not well-defined."
from $28 / night
Check Availability"Small campground, but you play disc golf and lovely trails! So close to get away from the city."
"Near the highway and airport makes for quick access but it can get noisy. It can also get very quiet and peaceful. Lots of hiking trails and a boardwalk."
"The new warden situation is interesting. Things have gotten a lot more strict in some areas (ex."
"this park has everything. beaches, bluffs, campIng, hikes, and phenomenal views. there is no wake in the lake and dogs are technically supposed to be on a leash."
from $28 - $53 / night
Check Availability"Quiet, pet friendly spot with nice bathrooms and plenty of tree lined spots for some privacy. Great spot to spend a weekend."
"Much to do at Devil's Lake and surrounding area. features multiple campgrounds and multiple areas for swimming. A beach at the North and South of the lake."
from $28 - $53 / night
Check Availability"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."
from $18 - $50 / night
Check Availability"Views like these are hard to beat in Wisconsin, or anywhere really. The cliffs on the side of the lake are phenomenal."
"This is one if the busiest State Parks in Wisconsin because it has so much to offer! Great roomy sites, many with electric. Stunning lake surrounded by bluffs and beaches."
from $28 - $53 / night
Check Availability"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"
"They do not provide garbage service at your site so you must walk to garbage dumpster.
You are allowed to ride personal golf carts."
from $43 - $999 / night
Check Availability"Cedar hill Wisconsin is a clothing optional campground so I enjoy it very much. The entire campground is located at the top of a 1000 ft.high bluff."
"River right behind our campsite. Some sites were a bit small but we managed to reserve one big enough for a trailer and a tent. Somewhat closed in with a lot of vegetation. Kids loved the river!"
"Overall, the park has well-maintained hiking and MTB biking trails, extraordinarily clean and well-kept vault toilets, and ample access to drinking water."
"This is another Wisconsin gym sitting in Southern West Wisconsin."
from $18 - $50 / night
Check Availability
GuideFriendly 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.
ScoutGreat location close to many things yet far enough to feel quiet and peaceful. Great owners always have fun stuff going on for everyone and our dog loves the dog park!
TravelerJust 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!
TravelerA central playground and pool are the biggest draws for families with kids. There's also a prospecting 'sluice' that you can buy for the kids to look for 'fossils' and interesting rocks.
The campground is located just north of the main attractions of Wisconsin Dells.
Campsites are not overly generous in size -- typical KOA, where some are 'stacked like cordwood'. Don't go there if you want any privacy from your neighbors.
Cabins are available for those wanting to 'camp' without a camper.
Very small dog park area.
Friendly check in staff. However, we were given a map with our campsite noted and told to wait for a person driving a golf cart to escort us and help us get situated. We waited...and waited...and waited...golf carts came and went, but passed us by. We finally gave up waiting and found out site by ourselves.
GuidePond, pool, snack shop, kayak rentals, fishing pond, family bicycle course with helmets, dog park, lots of activities/themes, reasonably priced, and clean!
TravelerHo-Chunk Gaming Wisconsin Dells RV Park is a nice option if you want an easy RV stay close to the casino and Wisconsin Dells attractions. I like that it feels convenient and low-hassle, with full hook-up sites, Wi-Fi, showers, laundry, a playground, pet area, and access to some hotel/casino amenities.
Pros: great location, full hook-ups, convenient amenities, close to entertainment.
Cons: it is more practical than scenic, and it is RV-only, so no tent camping.
Overall, it’s a good pick if you want a comfortable RV base near the Dells instead of a rustic campground.
GuideNice, 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.
GuideThis is a popular place in the area, the human beaches are full and the small pet beach area was well used by my husband, myself and our two dogs; Odinn & Frigga over Memorial Day. The hiking is amazing , particularly the Oakgrove trail, plenty to see with beautiful views. There is boating, canoeing, etc. Bring the strongest mosquito repellent you can get, Wisconsin in summer can be rough. We tried our Black Diamond poles and Thule day bags and we got to try cooling vests for the dogs from Ruffwear. It was so much fun. Note that there are sites to camp, cabins nearby and plenty of Hipcamp sites near. Strongly recommend Riverview Bottoms, which sits in a 500 acre property and is 10 min away.
LegendWe 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.
Camping options near Waunakee, Wisconsin range from county parks to state recreation areas within a 30-minute drive. The area sits at approximately 930 feet above sea level in Wisconsin's Driftless Region, characterized by rolling hills and glacial deposits. Summer temperatures typically reach 80-85°F during daytime hours, with nighttime lows in the 60s and frequent afternoon thunderstorms from June through August.
Hiking opportunities: Blue Mound State Park Campground offers extensive trail options for all skill levels. "Beautiful hiking trails everywhere for different levels of hiker," notes one visitor, while another mentions "a 3 mile hike to the caves with gorgeous landscapes/colors in October."
Water recreation: Lake Kegonsa State Park Campground provides lake access with designated swimming areas. "There is a beach and boat launch to help you enjoy Lake Kegonsa. It was also pet friendly with pet trails and a pet beach of their own," according to one camper.
Fishing spots: Multiple water bodies offer fishing opportunities around Waunakee. At Mendota County Park, the "maintenance employee mentioned that people were catching fish with hot dogs!" A convenient location for casual anglers without specialized equipment.
Privacy between sites: Many campgrounds offer reasonable separation between campsites. At Northern Lights Campground, one camper found "site #244 to be exceptionally wooded, and very private. It was a little difficult to find a level spot for our 10X10 tent."
Clean facilities: Campground maintenance receives positive feedback at several locations. "The shower house has the typical stalls. These are kept mostly clean," noted a visitor at Lantern DeForest, while another camper at Blue Mound State Park praised both "shower house and vault toilets" as "very clean."
Natural surroundings: The wooded settings create appealing environments. At Ice Age Campground, "Campsites in the Ice Age Campground were decent sized with individual fire pits and picnic tables. The sites had plenty of trees for shade, but were close together."
Reservation requirements: During peak season, advanced booking is essential. For popular sites like Devils Lake State Park, one reviewer advised "You need to book 11 months in advance, especially for holiday weekends."
Mosquito presence: Insects can be problematic, particularly in wooded areas and near water. A camper at William G. Lunney Lake Farm Campground found it "overrun with mosquitos. I know there has been a lot of rain in many places but it made it incredibly hard to enjoy the area."
Noise considerations: Some campgrounds experience sound from nearby transportation routes. At Lake Kegonsa State Park, campers reported "The campground is somewhat close to the interstate and rural highway roads so there is some traffic noise but relatively quiet by night time. What was NOT quiet on Thursday night was the freight train that came through around midnight and then again at 2 am."
Swimming pools: Blue Mound State Park features facilities specifically designed for children. "The pool is very nice and very clean. There is a pool section and a splash section. There are chairs and lounges around both and shade awnings. The cost is $3 for an adult and $2 for child."
Playground access: Several campgrounds include recreational equipment for younger campers. At Quartzite Campground, visitors enjoy "a more modern campground with many amenities; bath houses, camp stores, swimming, fishing, and hiking."
Safety considerations: Parents should be aware of specific hazards at each location. At Lake Kegonsa State Park, one reviewer warned about "a low hanging overpass and it took the roofs off TWO fifth wheels while we were staying there. Major damage on roof and internally - the RV had to be totaled and replaced."
Extension cord requirements: Electrical hookup locations vary between campgrounds. At Mendota County Park, one camper advised "bring an extension cords!! Some sites electric is close by, others not so much!"
Site accessibility: For larger rigs, site selection requires careful consideration. A visitor to Blue Mound State Park noted "For RVs, be sure to select a bigger site than you think you need. Sometimes it's tricky to maneuver your camper so big rigs may want to stay elsewhere."
Dump station logistics: Wastewater disposal can sometimes present challenges. At William G. Lunney Lake Farm Campground, one camper observed "The one road can get congested when you are waiting for the dump station."
Dog friendly campgrounds near Waunakee include numerous options that accommodate pets with varying amenities and rules. Most dog-friendly camping near Waunakee requires leashes and offers designated pet areas for exercise and water access.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Waunakee, WI?
According to TheDyrt.com, the most popular dog-friendly campground near Waunakee, WI is William G. Lunney Lake Farm Campground (Dane County Park) with a 3.8-star rating from 18 reviews.
What is the best site to find dog-friendly camping near Waunakee, WI?
TheDyrt.com has all 133 dog-friendly camping locations near Waunakee, WI, with real photos and reviews from campers.
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