The best dog-friendly glamping near Waucoma, Iowa

Looking for a camping experience near Waucoma, Iowa with your furry friend? Hipcamp offers over 160 options for glamping with pets in the area, starting as low as $15 per night. Some of the top campsites, such as Gilles Family Dairy & Woodland (239 reviews), Windy Goat Acres (208 reviews), and Shady Rest Acres (171 reviews), offer popular amenities like showers and trash disposal, as well as activities including hiking, boating, and snow sports. Book your glamping adventure today starting at an average price of $65 per night.

98% (182)

Top-rated campgrounds

Looking for a camping experience near Waucoma, Iowa with your furry friend? Hipcamp offers over 160 options for glamping with pets in the area, starting as low as $15 per night. Some of the top campsites, such as Gilles Family Dairy & Woodland (239 reviews), Windy Goat Acres (208 reviews), and Shady Rest Acres (171 reviews), offer popular amenities like showers and trash disposal, as well as activities including hiking, boating, and snow sports. Book your glamping adventure today starting at an average price of $65 per night.

98% (182)

Top-rated campgrounds

1. Cedar Springs

100%

(1)

23mi from Waucoma · 2 sites · Lodging · Decorah, IA

THE PROPERTY: Cedar Springs includes wooded forest terrain, pasture, an old limestone quarry, and high bluffs with beautiful views. This historic property has multiple elevations and geological features which make it a truly special & unique location. The quarry below the lodgings forms a natural amphitheater with amazing acoustics and has an extra large bonfire pit and two additional fire pits. The quarry space is available for all guests to enjoy except when privately reserved. There are hiking trails, an 1800’s limestone home and scenic bridge which make for great exploring and photo opportunities. Also, if you love art you will enjoy discovering the series of 19 elevated stained glass sculpture panels installed throughout the property.

2. Whispering Winds Retreat

86%

(7)

47mi from Waucoma · 2 sites · Lodging · Spring Valley, MN

Immerse yourself in nature and experience the magic of the lush gardens, free-roaming bunnies, fairy walkway, stargazing area w/ telescope, meditating in the Soul Garden, fishing in the fully stocked trout stream and more. 5 minute walk to City Park w/ frisbee golf, less than 0.5 miles to local restaurants & shops. Come relax, rejuvenate, and live out your best life at Whispering Winds Micro Retreat! (420 & pet friendly) Whispering Winds is a holistic healing micro retreat specializing in nature-based self-care. We believe in caring for the land and ensuring it’s just as magical for future generations as it is for the current ones. And that is incredibly important — this place really does have a certain magic to it. Guests are constantly commenting on the healing energy that seems to blanket the farm. The Fairy Walk sparkles with solar lights in the evening. Hammocks for afternoon naps, a nature trail you can walk barefoot, and an outdoor meditation/yoga area. The Soul Garden includes sound healing with outdoor gongs, wind chimes, bird song, crickets, frogs, and the evening dance of the fireflies, in season. Whispering Winds is also home to many animals and features a horse pasture, ducks, bunnies, cats, chickens, and a fully stocked trout stream. The centrally located Community Kitchen is a shared space with lots of options for cooking: Gas & charcoal grills, wood powered pizza oven, dutch oven, solar cooker, fire pit w/ grill grates, chiminea & a rocket stove. The Kitchen is equipped with a sink, Berkey for filtered water, and has prep & dining areas.

3. Cedar Springs

93%

(21)

22mi from Waucoma · 2 sites · Lodging · Decorah, IA

The property has been in my family for over 40 years and was originally settled in the mid 1800's. It is about 10 acres and is primarily wooded with Cedar, Oak, Maple, Hickory and Birch. The topography is diverse, having steep heights, easy flats and everything in between; which makes hiking fun and interesting. The lower College Drive side features a historic limestone homestead and quarry, also a fossil rich creek-bed and rustic (4WD) road to the top. The upper property (Hwy. 52 access) offers a secluded forest as well as a spacious meadow. The woods are filled with birds and many other indigenous wild animals. We are only a half mile from towns edge and two miles from its center (also a five minute drive from Luther College). The Decorah area is well known for its scenic natural beauty and has extensive hiking trails, biking trails, cross-country ski routes, rivers, creeks and hunting areas. People come here year round for our outdoor recreation and beauty. Canoeing, Kayaking, Fishing, Tubing, X-country skiing, and Trail Riding are very popular activities around here. Bring a side-by-side or ATV and have a blast both on the property and around the area. Decorah has several museums, a movie theater, 2 golf courses and bowling alley in addition to dozens of charming shops and several restaurants. You'll never get bored staying at Cedar Springs.

4. Lanesboro Acres

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(3)

44mi from Waucoma · 2 sites · RVs, Lodging · Lanesboro, MN

This property is located in the South Branch Root River Valley, halfway between Lanesboro and Preston, MN. It features two main areas: the lower 10 acres and the upper 14 acres. The lower 10 acres offer a wonderful setting for an RV setup, complete with a 20-amp electrical hookup and water (please note that 30- or 50-amp electrical service is not available at this time). Wi-Fi is available on this parcel. This area is shared with a pergola, garage, and bunkhouse that serve as the owner’s personal dwellings. Firewood is available for purchase, and all campfires must be kept in the provided fire globe. A porta potty is also onsite for guest use. The upper 14 acres include a 5-acre agricultural field and a 9-acre campground area. While this area has no additional amenities, it provides the perfect opportunity for a fully rustic night under the stars. A large, spacious bell-style tent is set up for your use, so no need to bring or pitch your own. A fire globe and porta potty are also provided. The property itself is stunning & gorgeous, with a wildflower meadow and plenty of walking trails. Guests are welcome to explore the entire property at their leisure and enjoy the many scenic vantage points (including a south facing bluff overlook). It’s truly a special place with a splendor of variety. Nearby adventures : Root River State Trail & Harmony-Preston Valley Trail A smooth, paved, multi-use trail system spanning about 60 miles. Ideal for biking, walking, rollerblading in summer, and cross-country skiing in winter. It connects Lanesboro with Fountain, Preston, Harmony, and Houston. Eagle Bluff Environmental Learning Center (~10 miles) An adventure-focused spot with hiking and mountain bike trails, zip-lining, a high ropes course, canoeing/kayaking, plus stunning views over the Root River valley. Sylvan Park & Bunny Trail (right in Lanesboro) A tranquil, family-friendly pocket of greenery with campgrounds, fishing ponds, a playground, and the charming Bunny Trail - perfect for an easy stroll with kids or dogs. Inspiration Point Wayside Rest (~2 miles southwest of Lanesboro) A historic roadside overlook built by the CCC in the 1930s, offering sweeping views of the Root River Valley and a taste of New Deal-era architecture.

5. Legacy Landing

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(2)

35mi from Waucoma · 2 sites · Lodging · Elkader, IA

Formerly the Mederville Wildlife Club, this land is situated on the north side of the hill and is accessible by a very rough “B” road. The property features two stocked fishing ponds, a vineyard, and trails for hiking, photography, mushroom hunting, and birdwatching. There’s a fire pit for campfires — and more stars than can be counted. It’s secure and very private.

6. Hideaway Camper by the Cave 2.0

95%

(10)

27mi from Waucoma · 1 site · Lodging · Decorah, IA

Hideaway Camper by the Cave 2.0 is a clean & quiet camper that is located just a few feet from your private cave & waterfall! KAYAK & CANOE RENTALS AVAILABLE ON SITE by Uncle Jon. A gem that you cannot find anywhere else in Decorah! A secret hideaway for photos, hiking, sightseeing & connecting to nature. A secluded area for easy R&R while listening to water flow, chirping birds & watching deer & horses pass by. 1 queen bed sleeps 2, 1 twin bed sleeps 1, and 2 full bunk beds sleep 2-4. We charge a $25 non-refundable pet fee. Enjoy the beautiful surroundings & have fun! Uncle Jon & Rose

7. Harvest Farm Campground Resort

29mi from Waucoma · 153 sites · Cresco, IA

Discover a truly unique camping experience at our private family campground, where every camper, whether solo adventurers or families, can find their perfect escape. Nestled in the stunning landscapes of Northeast Iowa, our campground offers a serene retreat along the picturesque Upper Iowa River, making it an ideal destination for nature lovers and outdoor enthusiasts alike. Our campground has earned numerous accolades, including being voted the number #1 Best Place to Camp by Bluff Country and recognized as one of the Top 5 Awesome RV Campsites in Iowa by StepOutside. Additionally, we were honored as the 1st Five Great Campgrounds Within Driving Distance by Jeff Cecil of 102.5 The Fox, and featured as the #1 Best Camping Sites in Iowa 2020 by Traveling Lifestyle Magazine. With ample space for privacy and a variety of amenities, our campground is designed to enhance your outdoor experience. Enjoy nearby attractions such as natural swimming holes, hiking trails, and local restaurants and shops that showcase the charm of the area. Whether you're looking to relax by the river or embark on an adventure, our campground is the perfect place to create lasting memories.

Potable water

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Campfires

8. Boulder Creek Campground

47mi from Waucoma · 111 sites · Bagley, WI

Discover the unique charm of Boulder Creek Campground, nestled in the stunning bluffs of the Mississippi River Valley in Wisconsin's Grant County. This picturesque location offers an ideal setting for your next camping adventure, combining natural beauty with convenient access to a variety of attractions. Our campground is strategically situated near Wyalusing State Park, making it easy for guests to explore the great outdoors. Enjoy nearby ATV/UTV trails, historical sites, and local wineries, or relax at the nearby beaches and public boat launches. With an array of local restaurants, bars, and shops just a stone's throw away, you'll have everything you need for a memorable getaway. Boulder Creek features spacious campsites and a wealth of on-site amenities, ensuring a comfortable stay for all visitors. We offer 180 sites, including options with 20/30/50 Amp service, complete with full water, electric, and sewer hookups. For those seeking a cozy retreat, our Canyon Chateau Cabins can accommodate up to 10 guests, making them perfect for families or groups. Experience the perfect blend of adventure and relaxation at Boulder Creek Campground, your ultimate outdoor destination!

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Campfires

Camper favorites near Waucoma

Top-rated campgrounds reviewed by the Hipcamp community.

Lanesboro Acres

100%

(3)

44mi from Waucoma · 2 sites · RVs, Lodging · Lanesboro, MN

This property is located in the South Branch Root River Valley, halfway between Lanesboro and Preston, MN. It features two main areas: the lower 10 acres and the upper 14 acres. The lower 10 acres offer a wonderful setting for an RV setup, complete with a 20-amp electrical hookup and water (please note that 30- or 50-amp electrical service is not available at this time). Wi-Fi is available on this parcel. This area is shared with a pergola, garage, and bunkhouse that serve as the owner’s personal dwellings. Firewood is available for purchase, and all campfires must be kept in the provided fire globe. A porta potty is also onsite for guest use. The upper 14 acres include a 5-acre agricultural field and a 9-acre campground area. While this area has no additional amenities, it provides the perfect opportunity for a fully rustic night under the stars. A large, spacious bell-style tent is set up for your use, so no need to bring or pitch your own. A fire globe and porta potty are also provided. The property itself is stunning & gorgeous, with a wildflower meadow and plenty of walking trails. Guests are welcome to explore the entire property at their leisure and enjoy the many scenic vantage points (including a south facing bluff overlook). It’s truly a special place with a splendor of variety. Nearby adventures : Root River State Trail & Harmony-Preston Valley Trail A smooth, paved, multi-use trail system spanning about 60 miles. Ideal for biking, walking, rollerblading in summer, and cross-country skiing in winter. It connects Lanesboro with Fountain, Preston, Harmony, and Houston. Eagle Bluff Environmental Learning Center (~10 miles) An adventure-focused spot with hiking and mountain bike trails, zip-lining, a high ropes course, canoeing/kayaking, plus stunning views over the Root River valley. Sylvan Park & Bunny Trail (right in Lanesboro) A tranquil, family-friendly pocket of greenery with campgrounds, fishing ponds, a playground, and the charming Bunny Trail - perfect for an easy stroll with kids or dogs. Inspiration Point Wayside Rest (~2 miles southwest of Lanesboro) A historic roadside overlook built by the CCC in the 1930s, offering sweeping views of the Root River Valley and a taste of New Deal-era architecture.

Legacy Landing

100%

(2)

35mi from Waucoma · 2 sites · Lodging · Elkader, IA

Formerly the Mederville Wildlife Club, this land is situated on the north side of the hill and is accessible by a very rough “B” road. The property features two stocked fishing ponds, a vineyard, and trails for hiking, photography, mushroom hunting, and birdwatching. There’s a fire pit for campfires — and more stars than can be counted. It’s secure and very private.

Hideaway Camper by the Cave 2.0

95%

(10)

27mi from Waucoma · 1 site · Lodging · Decorah, IA

Hideaway Camper by the Cave 2.0 is a clean & quiet camper that is located just a few feet from your private cave & waterfall! KAYAK & CANOE RENTALS AVAILABLE ON SITE by Uncle Jon. A gem that you cannot find anywhere else in Decorah! A secret hideaway for photos, hiking, sightseeing & connecting to nature. A secluded area for easy R&R while listening to water flow, chirping birds & watching deer & horses pass by. 1 queen bed sleeps 2, 1 twin bed sleeps 1, and 2 full bunk beds sleep 2-4. We charge a $25 non-refundable pet fee. Enjoy the beautiful surroundings & have fun! Uncle Jon & Rose

Harvest Farm Campground Resort

29mi from Waucoma · 153 sites · Cresco, IA

Discover a truly unique camping experience at our private family campground, where every camper, whether solo adventurers or families, can find their perfect escape. Nestled in the stunning landscapes of Northeast Iowa, our campground offers a serene retreat along the picturesque Upper Iowa River, making it an ideal destination for nature lovers and outdoor enthusiasts alike. Our campground has earned numerous accolades, including being voted the number #1 Best Place to Camp by Bluff Country and recognized as one of the Top 5 Awesome RV Campsites in Iowa by StepOutside. Additionally, we were honored as the 1st Five Great Campgrounds Within Driving Distance by Jeff Cecil of 102.5 The Fox, and featured as the #1 Best Camping Sites in Iowa 2020 by Traveling Lifestyle Magazine. With ample space for privacy and a variety of amenities, our campground is designed to enhance your outdoor experience. Enjoy nearby attractions such as natural swimming holes, hiking trails, and local restaurants and shops that showcase the charm of the area. Whether you're looking to relax by the river or embark on an adventure, our campground is the perfect place to create lasting memories.

Potable water

Toilets

Campfires

Boulder Creek Campground

47mi from Waucoma · 111 sites · Bagley, WI

Discover the unique charm of Boulder Creek Campground, nestled in the stunning bluffs of the Mississippi River Valley in Wisconsin's Grant County. This picturesque location offers an ideal setting for your next camping adventure, combining natural beauty with convenient access to a variety of attractions. Our campground is strategically situated near Wyalusing State Park, making it easy for guests to explore the great outdoors. Enjoy nearby ATV/UTV trails, historical sites, and local wineries, or relax at the nearby beaches and public boat launches. With an array of local restaurants, bars, and shops just a stone's throw away, you'll have everything you need for a memorable getaway. Boulder Creek features spacious campsites and a wealth of on-site amenities, ensuring a comfortable stay for all visitors. We offer 180 sites, including options with 20/30/50 Amp service, complete with full water, electric, and sewer hookups. For those seeking a cozy retreat, our Canyon Chateau Cabins can accommodate up to 10 guests, making them perfect for families or groups. Experience the perfect blend of adventure and relaxation at Boulder Creek Campground, your ultimate outdoor destination!

Potable water

Toilets

Campfires

Stories from the community

Sadie

3 weeks ago

With pets

3 nights at Legacy Landing

Such a lovely space in a gorgeous place with great hosts! Betty and Ed were super welcoming, friendly, and accommodating to our needs as guests. Their land is stunning and it was so nice to step right outside the cabin to go on nature walks. The nearby towns are fun to explore too. The photos of their cabin don’t do it justice, it’s very cute and thoughtfully designed! Would happily stay here again.

David

October 2025

With pets

4 nights at Lanesboro Acres

Absolutely fantastic! One of the best camps we've been to. Dog heaven. Off leash with no worries. There are only two campsites and they are a couple hundred yards apart. This place is a gem. Hosts were super nice. Can't wait to go back!!!

G

Gabby

October 2025

With pets

2 nights at Legacy Landing

This was a trip for my spouse and I to celebrate our anniversary, and it was the absolute best experience to have one-on-one time away from kiddos and to be in nature. Betty was a wonderful communicator, very thorough in her instructions and directions, and gave us the lay of the land upon arrival. We were kicking ourselves that we didn’t reserve more than two nights. From hiking to fishing to cooking outside, firepit, cards and movies inside, it was a lovely experience. The cabin itself was perfect. Brand new and very functional. We truly had everything we needed and more. Do yourself a favor and check this place out!

L

Lauren

October 2025

Weekend Trip to Hideaway Camper by the Cave 2.0

My boyfriend and I loved this spot. A quiet camper with a waterfall and horses close. Very relaxing if that’s what you’re looking for. John is extremely accommodating and quick to respond to needs. Definitely coming back!

L

Leslye

September 2025

3 nights at Whispering Winds Retreat

From the moment my husband and I arrived with our two pups at Whispering Winds Retreat, we knew we’d found something truly special. Tucked into this lush corner of nature, the land feels alive—towering trees, gentle textures of grass and the rustle of leaves instantly set a peaceful tone. Beverly has created such thoughtful spaces, like the outdoor meditation area, that invite you to pause and breathe. We stayed in the Fantasy Woodland Haven, which was the perfect balance of rustic and comfortable. It felt off-grid enough to be an escape, yet had all the amenities to make our stay relaxing and restorative. Every detail—from the cozy fairy décor to the privacy of the space—was intentional. One of the best parts was how much our dogs enjoyed it, too! Whispering Winds is incredibly dog-friendly, with a private dog park, wooded trails, and little touches that made our pups feel just as welcome as we did. Watching them run, explore, and settle in so happily made our experience even more meaningful. Beverly, the host, is a gem. Her warmth, authenticity, and passion for creating a place of renewal shine everywhere you look. She made us feel so welcome, and we left not only refreshed but inspired. Plan to unplug and let nature set your pace. Bring good shoes, watercolors, maybe a fishing pole—but also be ready to leave expectations behind. Whispering Winds is a rare treasure, and we can’t wait to come back!

Heather

August 2025

With kids

3 nights at Hideaway Camper by the Cave 2.0

What a beautiful hidden gem in the rolling hills of Iowa! We enjoyed the waterfall, the beautiful property, the well stocked RV and the customer service. Thanks for having us!

Heather

July 2025

With pets

1 night at Whispering Winds Retreat

Such a cute little place to stay! Cozy and comfy. My pups loved having an area of their own to run and play. Loved visiting the goat 🐐 and the horse 🐎 too❤️

J

Jess

July 2025

2 nights at Whispering Winds Retreat

I really enjoyed camping the air conditioner was really nice to have there was lots of space for my dog to be off leash i thought the toilet with running water was really a neat way to save on water and be able to wash your hand ls RJWas nice I will definitely come back again

Barb

June 2025

Weekend Trip to Whispering Winds Retreat

Whispering Winds was the weekend away we didn't know we needed. The dog park was incredible for our tripod who we have difficulty taking to actual dog parks!! She loved the resident and non resident animals! The lands are beautifully curated and designed with the human and dog in mind. We loved the paths, the community kitchen is such a great bonus! We can't wait to come back!

A

Amanda

May 2025

With pets

2 nights at Cedar Springs

We loved the views, the trails, the location, the privacy, and the ability to have our dogs with without any worries! Everything was great and we had everything we needed. Thais and his mother wer super helpful and informative with directions and making sure we had what we needed. We also had the luxury of staying one night in the GreenHouse. Very Cool! Definitely a place to check out!!

S

Steve

May 2025

With pets

Weekend Trip to Cedar Springs

Cowboy Cabin at Cedar Ridge was the perfect place for a rustic overnight stay in the Decorah area. It was a 5 minute drive to most of the places we visited though the property itself feels secluded and park-like. The fact that it is situated on top of an old quarry makes it an enjoyable adventure on it's own. The cabin was well-appointed and even

Matrice

May 2025

Weekend Trip to Cedar Springs

My fiancé and I loved staying here! The views were gorgeous, the greenhouse was beautiful and warm, especially for the colder night we stayed here in. Directions were easy to follow, the outhouse was clean and so was the whole grounds. The owners were extraordinarily kind, and people help make the place. This was a perfect first Glamping experience and we can’t wait to come back!

P

Paul

April 2025

With pets

Weekend Trip to Cedar Springs

Definitely the most unique property I've stayed at on Hipcamp! Stopped just for the night and I loved the little greenhouse experience and now I am spoiled because I had a whole rock quarry to myself! On top of all that they were very accommodating and got the spot ready for me last minute, I look forward to seeing this property in the future and would come back to this area to explore just to see this place again.