The best dog-friendly campgrounds near Princeton, Minnesota

Looking to experience the great outdoors near Princeton, Minnesota with your furry friend? Look no further than Hipcamp. With over 470 camping options specifically catered to pets, you'll find the perfect spot to pitch your tent or park your RV. From the serene Prairie Creek Forest Campground (202 reviews) to the charming Stone Creek Farm (116 reviews), and the adventure-packed Camp Floodwood (130 reviews), there's something for everyone. Whether you're into wind sports, biking, or paddling, you'll be surrounded by exciting activities. Plus, popular amenities like trash disposal, pet-friendly areas, and campfires will make your camping experience even more enjoyable. With prices averaging $35 per night and options as low as $5, camping near Princeton, Minnesota has never been more accessible and affordable.

97% (1.3K)

Top-rated campgrounds

Looking to experience the great outdoors near Princeton, Minnesota with your furry friend? Look no further than Hipcamp. With over 470 camping options specifically catered to pets, you'll find the perfect spot to pitch your tent or park your RV. From the serene Prairie Creek Forest Campground (202 reviews) to the charming Stone Creek Farm (116 reviews), and the adventure-packed Camp Floodwood (130 reviews), there's something for everyone. Whether you're into wind sports, biking, or paddling, you'll be surrounded by exciting activities. Plus, popular amenities like trash disposal, pet-friendly areas, and campfires will make your camping experience even more enjoyable. With prices averaging $35 per night and options as low as $5, camping near Princeton, Minnesota has never been more accessible and affordable.

97% (1.3K)

Top-rated campgrounds

1. Ham Lake Resort

90%

(5)

28mi from Princeton · 7 sites · RVs · Ham Lake, MN

Ham Lake Resort in Minnesota, just a short drive from the Twin Cities, is an excellent choice for a camping getaway. The resort boasts over 100 RV sites with full hookup options, tent sites, and cabin rentals, providing a range of accommodations to suit different preferences. The amenities at Ham Lake are top-notch, including boat docks, laundry facilities, a picnic area, and a dedicated play area for dogs. For recreation, campers can enjoy swimming, fishing, boating, horseshoes, a playground for kids, and numerous planned activities throughout the weekends. The beautiful lake offers opportunities for canoeing, kayaking, and paddle boating, ensuring that there's never a dull moment. Beyond the resort, there are plenty of exciting activities to explore nearby. Nature lovers can go horseback riding or visit the stunning state parks in the area. Families can have a blast at Bunker Beach Water Park, while those looking for a more relaxed day can visit Willow Tree Winery for some wine tasting. The Mall of America, just a short drive away, offers endless entertainment with dining options, the Crayola Experience, Sea Life Aquarium, and Nickelodeon Universe. For a cultural outing, the Minneapolis Sculpture Garden features over 50 unique sculptures perfect for a leisurely stroll and some great photos. The nearby Como Park Zoo and Conservatory is another fantastic spot, offering a chance to see a variety of animals and enjoy an amusement park.

2. R&R Mille Lacs

98%

(22)

47mi from Princeton · 1 site · RV · Garrison, MN

Learn more about this land:      R&R Mille Lacs offers a private channel lake lot on beautiful Mille Lacs! The site will have a pull through driveway with 2 RV spots with electricity and water on a gravel pad. The gravel drive through is big enough for 1 more RV but there are no hookups. $60 per RV per night. (So if your group brings 3 RVs it totals to $180.00 per night. Tents are also allowed.  There is one dump station as you pull out.      The site also has a private dock to put your boat or other water toys on. With just a short boat ride through the channel you can be out fishing on the mighty Mille Lacs in minutes. There are no waves to worry about in the channel so just tying up to the dock is nice and easy. With the calm waters it is a great place to use your kayak or paddle board, or just some fishing off the dock. There will be a four person paddle boat available for guests, you must bring your own lifejackets for any water activities.  There are also atv or mountain bike trails just feet away from the site. There is a fire pit on site with free split firewood.      We are located 5 minutes south of Garrison, and 5 minutes north of Grand Casino Mille Lacs, and right across the road from Northwood Hills golf course with Charlie’s Bar & Grill.       To launch your boat there are public water accesses to the north and south.

3. Nature Retreats Mn

29mi from Princeton · 2 sites · Lodging · Grasston, MN

The tranquil setting you will find in our campground entices wildlife to wander through. We want to maintain this atmosphere for their sake, as well as yours. Wild animals are not comfortable with loud noises, such as young children playing. The scent of pets can deter wildlife from an area for weeks, especially that of urine. We are trying to give you the best wildlife viewing experience possible. We hope you understand. Enjoy nature without sacrificing comfort or safety from your personal Glamping Site. Each site is private and fully equipped. Each site includes a comfortable, private blind where you can enjoy the thrill of watching wildlife that doesn't know you are there. Don't forget to bring your camera! The potential species of birds visiting the area is endless, a photographer's paradise! Professionals and beginners alike are sure to be elated with the immense variety to enjoy. This is where you'll find the shower house and restroom, both professionally decorated! The community area has tables to talk and share experiences with others if desired. Nature retreats MN is only 1 hour north of the St. Paul-Minneapolis area, right in the heart of the Minnesota wilderness. When you arrive, we will take you and your gear back to your private campsite. No vehicles are allowed past the parking area to keep the wildlife happy. Once settled, put your feet up and relax, or better yet, head out for some well-deserved fun, then come back and relax in your own private campsite. Nature Retreats MN has two very secluded and peaceful bird watching areas and a wildlife viewing area where you have your own private blind to wait for whatever may come in! Please note that Nature Retreats MN is a serene environment with plenty of privacy between camps. Couples and individuals seeking a tranquil escape to Embrace the serenity of Nature and relish in the beauty of the wild will be very pleased. You will be very comfortable and have a chance to see LOTS of different wildlife! (Hopefully)

4. Fireside Acres

11mi from Princeton · 1 site · Tent, RV · St. Francis, MN

Our camping area sits in a quiet corner of our 40-acre property. You'll find easy access through a mowed approach that opens into a peaceful spot just for you. While there’s some privacy from the road, traffic is minimal, so you can relax and enjoy the quiet. Beyond our home and a few outbuildings, the land offers a beautiful mix of young timber, lowlands, open meadows, and winding trails—perfect for exploring or simply soaking in nature. We’re just beginning our journey into creating an RV park, so while some of our plans are still in progress, we’re excited to share what we have so far. Water is available from a hydrant near the house, and once you book, we’ll provide a map showing the layout of the land, trails, and water access. If you prefer, we’d also be happy to give you a personal tour when you arrive!

Public campgrounds near Princeton

100%

(2)

Ann Lake Campground

11mi from Princeton · 55 sites · Tents, RVs · in Sand Dunes State Forest

Lake Maria in late August, unbelievably green!

90%

(10)

Lake Maria Campground

25mi from Princeton · 19 sites · in Lake Maria State Park

Rum River Group Camp

39mi from Princeton · 2 sites · in Mille Lacs Kathio State Park

100%

(2)

Petaga Campground

39mi from Princeton · 25 sites · Tents, RVs · in Mille Lacs Kathio State Park

Horse Campground

40mi from Princeton · 10 sites · in Mille Lacs Kathio State Park

Stories from the community

corina

September 2025

3 nights at Ham Lake Resort

The staff was lovely, all very nice people ! the resort was a lot of fun, cool chill party vibes 😎

Kim

June 2025

25 ft travel trailer

With pets

Weekend Trip to R&R Mille Lacs

Very relaxing and peaceful. Beautiful wildlife! Fantastic location and easy drive to casino, museum, and state park. The fire pit and wood provided was so nice. Nicely manicured lawn & plenty of privacy. We had a very nice time here & would return.

Nick

May 2025

20 ft travel trailer

With pets

Weekend Trip to Ham Lake Resort

The campgrounds were a very pleasant surprise. Very well maintained, clean, quiet at night, and the staff were all very friendly and wonderful (including maintenance guys who helped me with a plumbing leak issue). Nice petting zoo, dog play area, little beach on the lake, and trails around the grounds. Some RV spots are a little close together, but the overall grounds are large and spacious, so it didn't feel crowded. Kind of an under-the-radar hidden gem for the Twin Cities!