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Dog-Friendly Camping near Mills, WY

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    Cloud Peak Llama and Alpaca Ranch welcomes pets at their camping sites located near Mills, Wyoming. The property features two sites that accommodate both tent and RV camping, with 30-amp electric hookups and water available. Pets can roam among the ranch's animals including llamas, alpacas, goats, miniature donkeys, and friendly dogs. Several other pet-friendly options include Casper KOA, which offers full hookups, showers, and an indoor pool where guests can stay while their pets enjoy the premises. River's Edge RV and Cabin Resort provides pet-friendly accommodations including cabins, yurts, and glamping options alongside traditional tent and RV sites. Many guests report waking up to see animals wandering the property at Cloud Peak, with hosts who make time to introduce campers to the ranch residents.

    Casper area campgrounds maintain basic pet policies requiring owners to keep dogs leashed when outside their vehicles or camping units. The Casper KOA features two small dog areas covered in gravel with a strip of turf at one end, giving pets space to exercise after traveling. Beartrap Meadow County Park offers more rustic camping with pets allowed and hiking opportunities nearby. Local wildlife considerations include frequent antelope sightings near several campgrounds, particularly around Casper KOA where antelope visit nightly. For campers seeking services, veterinary clinics are available in Casper, approximately 5-10 miles from most camping locations. The Hangar Restaurant near Casper KOA welcomes diners with pets at their outdoor seating areas, providing a convenient dining option after a day of camping.

    Best Dog-Friendly Campgrounds near Mills (28)

      1. River’s Edge RV and Cabin Resort

      4.6(17)9mi from MillsRVs, Tents, Cabins, Glamping

      "Nice campground near Casper, WY. We just stayed for one night and they were able to accommodate us arriving late with us calling ahead."

      "Neat location with direct access to a park like area along the North Platte River. I took the dogs for a swim on a hot August afternoon.
      Staff was very helpful."

      from $55 - $72 / night

      Check Availability

      2. Casper KOA

      4.1(15)5mi from MillsRVs, Tents, Cabins, Glamping

      "Nice hookups easy in and out, clean laundry, pool and 2 dog parks are well lit and clean. The putt putt was a great addition for the kids."

      "The location is very nice, being just north of Casper, Wyoming, and easy to get off and on the interstate. Surprisingly, this campground was rather quiet despite being near the highway."

      3. Cloud Peak Llama and Alpaca Ranch

      4.9(7)3mi from Mills2 sitesRVs, Tents

      "Llamas, goats, miniature donkeys and the friendliest dogs. The sunrise and sunset is breathe taking. There is an outhouse for a restroom, which we needed bc we car camped."

      "Left a message around 5 pm that we would be late.  Then provided an update around 8 pm when we found out roadside assistance would not be available until the next morning. "

      from $30 / night

      Check Availability

      4. Beartrap Meadow County Park

      4.2(9)9mi from MillsRVs, Tents

      "Lots of room to run around if you have kids and/or pets. Beartrap Meadow is a beautiful place. Please keep it clean, leave no trace."

      "All of the campsites were occupied, but it was never loud, with the exception of a couple of dogs in the middle of the night."

      from $13 - $62 / night

      Check Availability

      5. KOA Kampground Casper

      4.4(5)5mi from MillsRVs, Tents

      "Pet friendly.  The park is nearly all gravel.  Little shade or grass.  It is far enough off the interstate to limit noise.  One of the best features is the Hangar Restaurant across the street. "

      "We stayed here for two nights at a rate of around $69.00 per night. The campsite at the KOA was nice, with friendly staff and a small store."

      6. Casper East RV Park

      3.0(3)5mi from MillsRVs, Tents

      "It was a quick and easy off the highway overnight stop."

      "There is a train nearby. We would definitely stay there again."

      7. Bucknum Rd BLM Dispersed Camping

      4.1(7)15mi from MillsTents

      "Simply a big flat expense shortly off the nearby highway. Ground is Bumpy due to recent rains but not muddy."

      "No one else around us when we camped here for a single night. You can be are far off the road as you want/are comfortable with. It was very dry when we were here so no problems with the ground."

      8. DeerHaven Campground

      5.0(2)9mi from MillsRVs, Tents

      "Stayed here last year, the drive up was a little dicey because it was autumn and rainy but DEFINITELY worth it. There are so many deer and critters around and they are BOLD haha so lock up your food."

      "They’re sites that are nestled away from the main road, it's enveloped in a serene setting with ample tree coverage."

      9. Glenrock South Recreation Complex

      4.2(5)26mi from MillsRVs, Tents

      "Paved “LEVEL” cement pads, next to a picnic table, potable connection nearby, and BBQ grill at each of the five campsites."

      "Located outside of town at the end of Mormon Canyon road at a rodeo arena w/ picnic area, playground, baseball diamond, disc golf course and campground w/ 6 back-in sites, alongside Deer Creek and I-25"

      10. Platte River RV Park & Campground

      4.0(4)26mi from MillsRVs, Tents, Glamping

      "It was convenient off the highway."

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    Dog-Friendly Camping Reviews near Mills, WY

    193 Reviews of 28 Mills Campgrounds

    • Ernie J.The Dyrt Pro User
      Oct. 23, 2026

      Glenrock South Recreation Complex

      This is a great “FREE” campsite. Paved “LEVEL” cement pads, next to a picnic table, potable connection nearby, and BBQ grill at each of the five campsites. Only reason I am giving this review 4 stars is because it limits the campsite use to only (5) days and the water was turned OFF. You’re next to I-25 but where I was the traffic noise was minimal. There’s a walking trail (just short of a mile) to walk your pets. I used GPS to find the campground and the GPS took me straight there without any issues. I arrived on a Friday morning and there was nobody else here.

    • C
      Oct. 23, 2026

      Douglas KOA

      Great stop over spot

      Clean spacious sites. Full hookups. Bath laundry and showers all immaculate

    • BThe Dyrt Pro User
      Sep. 25, 2026

      Hell's Half Acre Road

      Parking Lot

      This is a great stop for an overnight. Fantastic board walkway overlooking the canyon. There is a day use park adjoining with covered picnic areas. Be prepared for tourist traffic but most are just passing thru so only there a short time. Great free and level overnight spot.

    • RVBNB D.The Dyrt Pro User
      Sep. 20, 2026

      Glenrock South Recreation Complex

      Great, Cozy Free City Park

      Stayed for 1 night while passing through Casper with just one other RVer in the campground. Located outside of town at the end of Mormon Canyon road at a rodeo arena w/ picnic area, playground, baseball diamond, disc golf course and campground w/ 6 back-in sites, alongside Deer Creek and I-25. Spacious campsites are big-rig friendly, shaded by mature cottonwood trees, pedestal grills, picnic tables & some w/ concrete pads & water spigots throughout (on city water system according to city master plan). No hook ups or dump station, but public restroom w/ vault toilets opposite the playground. 5 day limit. Great 1 mile gravel path loop around park perimeter that our dog loved. Overall a well maintained & clean park off but not far off the beaten path; please keep it that way.

    • Sue B.The Dyrt Pro User
      Sep. 15, 2026

      Beartrap Meadow County Park

      Good spot for the night.

      We got here after dark and were a bit confused on the reservation process, especially since we had no cell service, so we had to head part way back down the mountain to book a site. The reservation process was pretty tedious. Our site was OK, had a picnic table & fire ring, but the site itself had almost gravel like rocks, not great for our tent. The view and wildlife was pretty. Saw 6 deer in the morning as we were packing up.

    • Melody J.The Dyrt Pro User
      Sep. 10, 2026

      Bucknum Rd BLM Dispersed Camping

      Simple Overnight Stay

      Dry and windy, but fairly quiet and open. No one else around us when we camped here for a single night. You can be are far off the road as you want/are comfortable with. It was very dry when we were here so no problems with the ground. There is nothing out here though so bring your own water and all that!

    • Ray D.The Dyrt Pro User
      Sep. 5, 2026

      KOA Kampground Casper

      Bar Nunn, WY KOA

      We stayed here for two nights at a rate of around $69.00 per night. The campsite at the KOA was nice, with friendly staff and a small store. There is a walking gate at the back that allows guests to cross the street for drinks and food. Right behind the park, there are two dining options: The Hanger Bar & Grill, which had poor service and bad food, and Chatter's Bar and Grill, known for good food and drinks. Please note that Chatter's is a local hangout and can get a bit rowdy. We had no issues during our visit, and the bartender was friendly.

    • Melinda S.The Dyrt Pro User
      Aug. 31, 2026

      River’s Edge RV and Cabin Resort

      I would stay here in a minute.

      It was nice to find a gem! It is just off the highway. But not too close. Well maintained. Clean laundry, restroom & showers. Each spot has a grassy (artificial turf) spot with a picnic table and a tree for those hot days of summer.

    • Karen C.The Dyrt Pro User
      Aug. 29, 2026

      Hell's Half Acre

      Remote beauty

      The parking lot is fenced to keep us off the rim. The day-use area is fenced, also, with a sign saying it's locked at night. It wasn't locked. Remote! Great for sky watching. Pit toilet, picnic tables and trash receptacles in the day use area. I'd stay here again for the beauty. Traveling in a van.

    Guide to Mills

    The Mills area offers camping options across Wyoming's high plains region, with elevations around 5,100 feet resulting in dry summer conditions. Temperatures can fluctuate significantly between day and night, with summer highs often reaching 90°F and dropping to the 50s after sunset. Camping sites range from established RV parks with full amenities to more secluded options with mountain views.

    What to do

    Fishing access: Gray Reef Reservoir provides fishing opportunities along the North Platte River. "Beautiful mountains and reservoir made for a lovely sunset. Nice vaulted toilet not far from our camp site. Site 5 is very private and off to the other side of the dam from the other sites, makes for a nice private spot," shares one Gray Reef Reservoir visitor.

    Hiking and mountain exploration: Casper Mountain offers trails and forested areas just 15 minutes from town. "Awesome camping on Casper Mountain. 15 minutes to town makes it convenient. The camp sites are always kept up well," notes a camper at Beartrap Meadow County Park.

    River activities: Multiple campgrounds offer river access for floating or wading. "We floated the river and docked right at the site, the kids loved the relaxing hammock park(at night there is twinkling lights in the trees), bonfires, community 'kitchen', there was a band during 4th of July!" reports a visitor at Memory Bridge Campground.

    What campers like

    River views and sounds: Many campers appreciate the water features near Mills. "Rush from the dam is a lovely background noise all night," mentions one Gray Reef Reservoir reviewer about the spillway ambiance.

    Animal interactions: Beyond pet-friendly policies, some sites offer unique animal experiences. "In a word, the animal interactions were great as you walked among them. Dewayne was supper friendly and definitely from the cloth of a rancher," shares a visitor at Cloud Peak Llama and Alpaca Ranch.

    Well-maintained facilities: Cleanliness stands out in reviews. "Very clean bathroom/showers. A couple have been remodeled. Nice laundry room. Free mini golf. Nice spots with grass between," notes a Casper East RV Park camper.

    What you should know

    Weather considerations: The Mills area experiences temperature swings and limited shade at some sites. "Nice fishing but the campsites can get very hot during the day...little to no shade in most campsites," warns a Gray Reef visitor.

    Train noise: Some campgrounds experience railroad disruptions. "The only cons was it is close to the train which was a noisy when it came by, but didn't prevent us from sleeping," mentions a reviewer at River's Edge RV and Cabin Resort.

    Primitive options: Several campgrounds offer more basic accommodations. "Deer Haven is a rustic haven for campers, boasting 11 reservable campsites and a single restroom. It's worth noting that water and utilities aren't accessible at this campground," explains a DeerHaven Campground visitor.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Mills, WY is River’s Edge RV and Cabin Resort with a 4.6-star rating from 17 reviews.

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

    TheDyrt.com has all 28 dog-friendly camping locations near Mills, WY, with real photos and reviews from campers.