The best dog-friendly campgrounds near Milton, New Hampshire

Camping with pets in Milton means options—over 1,700 pet-friendly sites, from wooded clearings to spots just steps from the lake. Most places let you light a campfire, bring your dog, and rinse off after a muddy hike. Rates start at just $10 a night, with the average landing around $60. Locals head to Sacred Nectar Sanctuary (901 reviews) for quiet trails and easy river access. Pitch Perfect at Canterbrook (333 reviews) offers open fields and shady corners, while Hussey Mountain Tree Farm (297 reviews) puts you right on the edge of miles of forest. Fishing, hiking, and swimming are easy to find nearby. Bring a leash and your sense of adventure—Milton’s campsites are ready for you and your four-legged mates.

97% (4.8K)

Top-rated campgrounds

Post power line trail walk - pre dinner snack time.

Camping with pets in Milton means options—over 1,700 pet-friendly sites, from wooded clearings to spots just steps from the lake. Most places let you light a campfire, bring your dog, and rinse off after a muddy hike. Rates start at just $10 a night, with the average landing around $60. Locals head to Sacred Nectar Sanctuary (901 reviews) for quiet trails and easy river access. Pitch Perfect at Canterbrook (333 reviews) offers open fields and shady corners, while Hussey Mountain Tree Farm (297 reviews) puts you right on the edge of miles of forest. Fishing, hiking, and swimming are easy to find nearby. Bring a leash and your sense of adventure—Milton’s campsites are ready for you and your four-legged mates.

97% (4.8K)

Top-rated campgrounds

1. Sunrise Manor

98%

(22)

37mi from Milton · 1 site · Tent, RV · Salisbury, NH

We are at the top of Raccoon Hill. Overlooking a valley with Punch Brook at the bottom. You can see Belknap Mountain across the way. There are many trails nearby. The state snowmobile trails run nearby with access at the power lines that cross Raccoon Hill, Great for hiking, biking in the summer. And snowmobiling in the winter. State rail trail is nearby also (bottom of Raccoon Hill and rt 11) Giving access to the entire state! Highland Lake is a few miles away. Webster Lake is a bit further down the road. Fishing ponds are all over the area. Ragged mountain is 20 minutes from here. The mountain biking park in Northfield is about 20 minutes away. Black Bear Vineyard is a few miles away. Enjoy our 73 acres in peace. Our site has a well you can use to fill up your tanks, we recommend using an in-line filter as the water is not tested. We recommend using it for showers and toilets. 2 50amp hook ups. And septic hook ups.

2. Duncan Lake Island

99%

(34)

22mi from Milton · 1 site · Tent · Center Ossipee, NH

Quiet and peaceful island in Duncan Lake, Ossipee, NH. Fall asleep listening to the loons, and wake up to beautiful sunrises! Approximately half an acre with plenty of level spots for tenting, great fishing (lake is stocked with trout), and excellent swimming. Property has a flat top Blackstone propane griddle (propane not provided), charcoal BBQ, and picnic table. Lots of hiking opportunities in the immediate area. Given the location, potential renters MUST have a canoe/kayak to access the land from the public beach. There are no restroom facilities of any kind, so please be prepared to pack in/pack out your preferred solution. Enjoy the serenity of this unique island oasis! Available May 1st - Oct 31st only. Parking is available at the public beach (Cleveland Beach). Access from East Side Drive is not permitted - launch from the boat launch or Cleveland Beach only, please.

3. Back 80 Yurt

100%

(7)

47mi from Milton · 1 site · Lodging · Canaan, NH

Escape to an enchanting Off-Grid Yurt nestled amid the serene embrace of a lush forest on the slopes of Mt. Cardigan. Positioned just 300 yards from parking (or over a mile in the winter with snowshoes or skis), this secluded retreat offers a unique blend of tranquility and adventure. Immerse yourself in nature with convenient walking access to Welton Falls State Park and the extensive Cardigan Mountain trail system, where you can explore scenic routes leading to Mt. Cardigan, Fire Screw, Mt. Orange, Moglis, and other captivating destinations. Experience the perfect balance of seclusion and outdoor exploration in this idyllic mountain haven.

4. The Cabin at Whispering Pines

41mi from Milton · 1 site · Lodging · Weare, NH

Not currently accepting bookings, please check back in the fall! Here you will have the opportunity to truly experience peace, serenity, and self-reliance. Surrounded by wilderness, you will hike in 1/4mi to a rustic but self-sufficient cabin in the heart of NH. Solar electricity, rainwater collection, and woodstove for cooking, this cabin provides everything you need to survive and thrive.

5. Harveys Hill

100%

(41)

24mi from Milton · 2 sites · Tents, RVs · Epping, NH

Harvey’s Hill is a private hilltop campsite with 360° sky views, unbeatable stargazing, and access to our rustic Cantina featuring bathrooms, warm running water, and a basic kitchen. Just 10 minutes off the highway in Epping, NH, it’s the perfect stopover or peaceful escape. Harvey's Hill has been a beloved part of Epping for generations. In the summer, you might see small planes taking off from the hilltop airstrip or locals walking their dogs up to catch the sunset. In the fall, my aunt Erica makes donuts down in the Milk Room, and in the winter, the hill fills with sledders racing down its snowy slope. Many celebrations have taken place here over the years, including weddings, reunions, and picnics. The Cantina is a new addition to the top of the hill. It includes three bathrooms, a kitchen, and electricity. While simple and minimalist, these amenities make the site more comfortable, and we hope they enhance your stay.

Public campgrounds near Milton

Pawtuckaway State Park: site 43 and site 44 on Horse Head Island are both large private sites with direct lake access.

100%

(15)

Pawtuckaway Campground

24mi from Milton · 173 sites · Tents, RVs · in Pawtuckaway State Park

100%

(2)

Bear Brook Campground

25mi from Milton · 92 sites · Tents, RVs · in Bear Brook State Park

Mead Explorer Base Camp

38mi from Milton · 1 site · Tent, RV · in White Mountain National Forest

White Ledge Campground

40mi from Milton · 13 sites · Tents, RVs · in White Mountain National Forest

70%

(8)

Salisbury Beach Campground

40mi from Milton · 458 sites · Tents, RVs · in Salisbury Beach State Reservation

Stories from the community

M

Matt

3 weeks ago

Group trip

Weekend Trip to Back 80 Yurt

Spent a weekend catching up with friends here. The yurt is amazing, super comfortable and warm with the wood stove, easy to cook on the gas range, water nearby for cleaning up. Brought our own potable water. Nice privy. Left some extra supplies behind for the next people which seems like a well established tradition. We hiked around Welton falls to the AMC lodge, saw a black bear, hiked Oregon Mt the next day. We will definitely be looking to return in the summer.

Amanda

November 2025

13 ft travel trailer

2 nights at Sunrise Manor

We enjoyed having our own space in a nice and quiet area. It was nice to be able to let our dog off leash too.

emma

November 2025

19 ft Class B

With kids

Weekend Trip to Harveys Hill

Fantastic pitch next to the cantina on top of the hill. Amazing views, wild turkeys roaming and little fishing pond. Cider apple donuts for sale on site down the track. Cantina has toilets, kitchen (no stove) and water. Wash room with hot showers at the house down the hill. Brilliant place to stay.

M

Megan

October 2025

18 ft campervan

2 nights at Harveys Hill

We absolutely loved staying here! So many good things to say! Camping with THREE bathrooms with HOT water!! Directions to site were clear. Everything as described. Grass was nice and short at the site, which we appreciated. We were even able to find a 100% level spot without using our maxtrax which is also unheard of! The fields to the left and right side of the site had the corn harvested before we got there. While we were there, we got to see the field across be harvested which was pretty cool! The landing strip is also no joke, do not park near it. There was a plane that came by twice as what I’ll describe as doing a practice landing. It came down low to the runway as if it was going to land but didn’t. It was extremely cool to see! But shewwww felt close!

michael

September 2025

23 ft travel trailer

With pets

4 nights at Sunrise Manor

Was suck a quiet place. Absolutely perfect! Tulsa! Was very quick to respond, as well s update me about the site before arrival! Couldn't recommend this more. Perfect for exploring the area. Amazing place amazing renters!!!

k

krystal

September 2025

32 ft travel trailer

With pets

Weekend Trip to Sunrise Manor

Sunrise manor is a super quiet and remote spot for you to set up camp and relax. They have a fire pit and electric hook up. The dogs were able to run free. Great trip and we would stay again

J

Jessica

September 2025

30 ft travel trailer

With kids

3 nights at Sunrise Manor

Cute spot. Host responded quickly. Will go back. Lots to do around the area for biking and hiking.

T

Tom

September 2025

Tent

2 nights at Harveys Hill

A hill in a cornfield with a 360 degree landscape? A beautiful, secluded tent site with a cozy picnic table setup and access to bathrooms. Truly one of the better sites I've visited. Would recommend!

A

Alexa

September 2025

16 ft car

1 night at Harveys Hill

Car camping was great here! The instructions for accessing the site were very clear. The hill top had such a beautiful view of the sunrise and sunset.

B

Brad

August 2025

31 ft Class C

With pets

4 nights at Sunrise Manor

Awesome! Easy, fun, ultra private. Loved it. Flawless updated design. 6 dogs and wife and I in a 31 ft class A.

P

Paige

August 2025

Tent

With pets

3 nights at Harveys Hill

Abigale’s land was very quiet and peaceful. She was awesome to work with and very accommodating to help make things work with what we needed. The showers/bathroom were extremely clean and perfect for what we needed. The site was also beautiful and well taken care of

Lanni

August 2025

22 ft travel trailer

Weekend Trip to Sunrise Manor

We just bought our first RV and we were looking for a quiet site that has full hook up where we could practice using our RV and have a quiet place to bring our dog. The host was extremely helpful and kind and the site was perfect for what we were looking for. We will definitely be booking again! Thank you!

M

August 2025

Tent

With pets

3 nights at Duncan Lake Island

The island was a beautiful spot. I went with my girlfriend and my seven year-old daughter and what a trip that was. I purchased a 4 hp Evinrude engine to hook up to our canoe to get us and all of our stuff out there we had three dogs and three humans so it was quite a few trips and I Accounted for that ahead of time. To paddle would probably take 5 to 10 minutes, but is an easy ride. Plenty of flat spots to set up a tent. The only thing on the island is a dock and a propane griddle which came in handy so we didn’t have to bring all of our cooking stuff. There is a fire pit already established, but you’ll want to bring Firewood. The island has medium vegetation, cover enough to get a little bit of privacy, but may want to consider bringing a tarp or situating your temp in a certain way as to have privacy to change, etc.. parking is at the public beach. It can be a bit of a bummer coming back bringing your stuff from the beach up the hill, but wasn’t terrible. Recommend bringing a wagon dolly or wheelbarrow to get your stuff down to the water would probably make it easier but definitely wasn’t too bad. There’s a grocery store, Ocean State job law and hardware store not even five minutes down the road if you feel like there’s anything you forgotten all in all would definitely go back. The island was very clean with great wildlife. I never thought we would get used to hearing loons.

Alison

August 2025

Tent

3 nights at Harveys Hill

What a great spot!! Perfect for watching the sunrise and sunset. Having access to the sky-can was awesome! It had flushing toilets, a sink to wash dishes, a mini fridge and a toaster/air fryer oven! The spot is super roomy and has pinic tables too. I highly recommend this site.

Most private spot (no street visibility)

Q

Quaanzale

August 2025

Tent

With pets

1 night at Sunrise Manor

Beautiful scenery and setup spots. I don’t think my dogs had ever had so much private space to just wander before. They loved that. Host is super responsive. This was my first time needing to prime a well. Host came and did a quick impromptu lesson on priming. And I learned something new. You can hear/see vehicles going by a bit but it didn’t bother me. Would stay again for sure.

A

Amy

August 2025

25 ft Class C

With pets

Weekend Trip to Sunrise Manor

Sunrise Manor is an amazing place to camp. It is in a clearing, in a very private area, and you feel like truly you are a million miles away even though it’s only 15-20 mins from towns like Franklin or Andover. I even saw a shooting star. The hosts were very responsive and answered all our questions, both before and during our stay. The hookups are easy (we had a small RV) and great to have those amenities. But if you are tent camping they are not intrusive. The picnic table and Adirondack chairs with the fire pit were a great plus!

Charlotte

August 2025

16 ft car

With pets

1 night at Harveys Hill

Very nice place, super clean bathrooms, secluded enough, definitely recommend. We didn't see the kitchen though, not sure if there is an access from this site.

Donald & Roz

August 2025

26 ft travel trailer

With pets

Weekend Trip to Sunrise Manor

Very nice secluded spot. Nice and flat for our camper. Site was close to the road but it's a quiet road so not noisy. Had everything we needed. Many places a short drive to get to, stores and places to walk/hike.

Alison

August 2025

Tent

2 nights at Harveys Hill

I loved camping at the Back 40 site. It’s got a great fire ring with a removable grate (awesome to cook dinner on), a nice picknik table, a tent platform, a nice gravel parking area. It sit on the edge of beautiful farmland. A short walk up the hill is an amazing spot to watch the sunrise and sunset. There are nice new bathrooms with showers too!! The land owners are incredibly kind and quick to respond. They sure make you feel right at home. I 10 out of 10 would highly recommend checking out this spot.

Z

Zoë

August 2025

Tent

With pets

Weekend Trip to Duncan Lake Island

I loved camping on Duncan Lake! This was a great spot, close to everything (having Hannaford 4 min away for ice & drinking water was very convenient!), the road noise is a little loud but that’s to be expected due to the location. Our dogs loved swimming all day long, kayaking and exploring the island. I already want to come back!