The Dyrt – find campgrounds for tents, RVs, cabins, glamping and more.
Open in App

Dog-Friendly Camping near Mills, WY

28 campgrounds · Check availability for any dates.

Search destinations
    Add dates

    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.

    Wind Cave National Park Camping Guide - The Complete Guide

    Get the guide now

    View Guide

    Best Dog-Friendly Campgrounds near Mills (28)

    Filters    Tent onlyRVCabinGlampingPetsEquestrian

      1. River’s Edge RV and Cabin Resort

      4.6(16)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

      4.0(14)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."

      Check Availability

      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

      4.3(8)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."

      Check Availability

      5. KOA Kampground Casper

      4.3(4)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. "

      "There's even a nice restaurant a 2 minute walk in back of the park. There even a car/RV wash if you need it."

      Check Availability

      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."

      Check Availability

      7. DeerHaven Campground

      5.0(1)9mi from MillsRVs, Tents

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

      Check Availability

      8. Bucknum Rd BLM Dispersed Camping

      4.0(4)15mi from MillsTents

      9. Platte River RV Park & Campground

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

      "It was convenient off the highway."

      Check Availability

      10. Memory Bridge Campground

      4.5(4)26mi from MillsRVs, Tents

      "The deer came and tucked me in for the night."

      from $15 - $30 / night

    View all 28 campgrounds

    2026 Explorer Giveaway

    Review Campgrounds. Win Prizes.

    Enter to Win

    Mills Contest

    Enter to Win

    Drive Time

    Recent Dog-Friendly Camping Photos near Mills, WY

    12 Photos of 28 Mills Campgrounds

    Dog-Friendly Camping Reviews near Mills, WY

    174 Reviews of 28 Mills Campgrounds

    • GoWhereYouAreDraw N.The Dyrt PRO User
      Aug. 25, 2023

      Deer Creek Village RV Park

      Next door dog park was a nice bonus

      The office building was equipped with convenient amenities, boasting well-maintained men's and women's bathroom/shower rooms, as well as a set of 4 washers and 4 dryers - all of which made my stay even more comfortable. The camper hook ups were a breeze, with flawless water, electric, and sewage connections. I especially appreciated the concrete slab next to my camper, perfect for grilling, playing bag toss, or simply relaxing in chairs.

      The location couldn't have been better - nestled right by the city park, I felt the location was perfect. Being close to Deer Creek added a touch of nature to the experience. I noticed ongoing improvements, such as the replacement of gravel sites and the addition of new cement slabs, truly showing a commitment to enhancing the RV park. The presence of shade trees was nice, and the adjacent city park, complete with a dog park, was a fantastic bonus.

    • GoWhereYouAreDraw N.The Dyrt PRO User
      Aug. 26, 2023

      Deer Creek Village RV Campground

      Nearby city park

      The office building has convenient amenities, boasting well-maintained men's and women's bathroom/shower rooms, as well as a set of 4 washers and 4 dryers- all of which made my stay even more comfortable. The camper hook ups were a breeze, with flawless water, electric, and sewage connections. 

      I especially appreciated the concrete slab next to my camper, perfect for grilling, playing bag toss, or simply relaxing in chairs. The location couldn't have been better- nestled right by the city park, I felt the location was perfect. 

      Being close to Deer Creek added a touch of nature to the experience. I noticed ongoing improvements, such as the replacement of gravel sites and the addition of new cement slabs, truly showing a commitment to enhancing the RV park. The presence of shade trees was nice, and the adjacent city park, complete with a dog park, was a fantastic bonus.

    • Kimberly N.The Dyrt PRO User
      Jul. 28, 2025

      Casper KOA

      All around great place

      We enjoyed this spot tremendously. Overlooking the whole city of Casper in Barr nunn, WY. 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. Walking distance to the Hangar Restaurant was really cool and had a little arcade for kids while you eat. It really felt like the break in travel we needed! We had antelope visiting every night. Really neat place to stay.

    • K
      Jun. 6, 2026

      Douglas KOA

      Stop here!

      We needed an unplanned overnight stop on our 3000 mile trip from Dallas to Mintana to South Dakota to Montana and back home. They had an excellent pull-through site. Clean. Playground. Dog park. Propane and beer sales. Quiet. Perfect for us.

    • Shelly S.The Dyrt PRO User
      Nov. 11, 2020

      Douglas KOA

      Jackalope Capital

      Douglas KOA

      Home of the Jackalope! Douglas, Wyoming that is. They claim the original “discovery” of the Jackalope and everyone else just followed suit. There is a Jackalope silhouette outside of town on a hill, there are Jackalope lick Nessie’s throughout town and there is a Jackalope Square that has Farmers Market on Saturday’s that has a huge statute of said Jackalope.

      The KOA is a larger one and more so like a parking lot then anything else. The staff were awesome! Very friendly and informative. A few things of note, the trash receptacles are placed throughout the campground which is nice. The dog park is a bigger one and there were actually locations for horses.
      Not much shade AT ALL, and the wind whip’s through a lot. I was informed though that’s a Wyoming thing anyway. Miniature golf, swimming pool and camp kitchen as expected. The WIFI , I’m sorry to say, sucks and is not private. I’ve noticed in my travels though that NONE of the KOA’s have very good WIFI. I was fortunate and got an end site, near the office/shower (clean w/short shower heads and counters)and I had shade. A few days before I arrived in early September it had already snowed and the temperature had dropped into the 20’s. It was in the 50’s my first day and is a comfortable 75 today with a lite breeze. Douglas has some interesting history and historical sites nearby so it’s worth a visit if your exploring the old west or just driving through. Make sure you keep your gas above 1/2, the highways are a long way between gas stations and the speed limits are usually 70-80 MPH.

    • Kristi D.
      Jul. 19, 2023

      Platte River RV Park & Campground

      Super organized

      We were using this campground as just a stop on the way to Grand Teton. It was convenient off the highway. Close together, but it's an RV park after all ...it was super clean, owner was super nice and very organized....provided with a list of rules and there are a bunch of signs.

      We were able to do laundry here and it has a dog park area with dog poop balls and a ball and tug of war toys. My dog loved this!!!

      Platte river was at the back of the campground and you can go down and hang out. Mosquitoes bad at night though down by the river! We had a good experience for a quick stop. $53 for full hookup etc. It's the only thing they had other than non electric, as we booked same day.

    • M
      Jun. 6, 2019

      River’s Edge RV and Cabin Resort

      Nice RV Park

      Nice campground near Casper, WY. We just stayed for one night and they were able to accommodate us arriving late with us calling ahead. There is a grassy area by the river that is nice to walk your dog. Shower and bathroom area was clean. There is a little playground for kids.

      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. Full hook ups, pet friendly.

    • GoWhereYouAreDraw N.The Dyrt PRO User
      Aug. 25, 2023

      Platte River RV Park & Campground

      …At least there’s a dog park

      I liked the little dog park and river access.

      I mostly didn’t like everything else… from what I’ve been gathering, they put their long-term stays in worse sites which seems strange? RV sites are extremely small. Whoever was in charge of the website's marketing did a bang-up job, because let me tell you, the reality is a far cry from those picture-perfect images.

      This campground, is nothing more than a flat, uninspiring patch of land that will transform into a mud pit at the first sight of rain. Shade? Forget about it. You'd be luckier finding a needle in a haystack than a sliver of shade here. And good luck tracking down any staff – it's like they've perfected the art of hide and seek. The office "closed" sign is practically a permanent fixture. So, if you're in the middle of a long-term stay and something goes awry– you're pretty much on your own.

    • GoWhereYouAreDraw N.The Dyrt PRO User
      Aug. 24, 2023

      Platte River RV and Campground

      uninspiring patch of land

      What I LIKED: The little dog park and there's also river access, adding a touch of nature's charm to the experience. 

      What I DIDN’T like: Mostly everything else… from what I’ve been gathering, they put their long-term stays in worse sites which seems strange? RV sites are extremely small. Whoever was in charge of the website's marketing did a bang-up job, because let me tell you, the reality is a far cry from those picture-perfect images. 

      This campground, is nothing more than a flat, uninspiring patch of land that will transform into a mud pit at the first sight of rain. Shade? Forget about it. You'd be luckier finding a needle in a haystack than a sliver of shade here. And good luck tracking down any staff – it's like they've perfected the art of hide and seek. The office "closed" sign is practically a permanent fixture. So, if you're in the middle of a long-term stay and something goes awry– you're pretty much on your own.

    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 16 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.

    Keep Exploring