The best dog-friendly camping in Door County

Discover and reserve the best campgrounds, cabins, RV parks, and more.

97% (32)

97% (32)

More campsites in and near Door County

Baileys Grove Campground

1 site · Baileys Harbor, WI

Baileys Grove Campground stands out as a premier destination for outdoor enthusiasts, offering a unique blend of natural beauty and modern amenities just minutes from the stunning shores of Lake Michigan. Nestled in the heart of Door County, our campground provides easy access to fantastic fishing charters, sandy beaches, the picturesque Ridges Sanctuary, and the iconic Cana Island Lighthouse. Plus, the charming Baileys Harbor is less than a mile away, inviting you to explore its delightful shops and dining options. At Baileys Harbor, you can take advantage of the Town Marina, where you can launch your boat, rent a slip, or embark on one of the many exciting charter fishing trips on Lake Michigan. Centrally located on the Door Peninsula, Baileys Grove Campground is a short ten-minute drive from the vibrant villages of Sister Bay, Ephraim, Fish Creek, and Egg Harbor, ensuring you’re never far from the best that Door County has to offer. Our campground features 95 well-appointed sites, each equipped with water, electric, a fire ring, and a picnic table. Many of our sites are shaded by mature trees, and we offer full hook-up pull-through options for larger RVs, including those up to 45 feet with sewer and 50-amp

Holden Park

1 site · Arkansaw, WI

Holden Park Campground stands out as a serene getaway nestled on the picturesque Silver Birch Lake, just south of Arkansaw, WI. Spanning nearly 75 acres, this beautiful park offers a perfect blend of nature and recreation, complemented by an additional 20 acres dedicated to the Pepin County Shooting Range. With 16 well-maintained campsites, visitors can enjoy a peaceful retreat surrounded by lush landscapes. Before entering the park, we encourage all guests to familiarize themselves with our rules and regulations, which can be found in our ordinances. In 2021, the Pepin County Land Conservation and Planning Department enhanced accessibility by utilizing a Community Development Block Grant (CDBG) to purchase ADA-compliant picnic tables, an ADA dock with a kayak launch, and other essential ADA equipment. Looking ahead, in 2023, the Pepin County Land Conservation and Planning Department secured a DNR Grant aimed at upgrading facilities. Construction is set to commence at the end of 2024 or the beginning of 2025, bringing modern flush toilet bathrooms, showers, and improved drinking water access to the campground. Additionally, in April 2024, Pepin County approved the introduction of a camp host for the 2024 camping season, ensuring a welcoming and well-managed experience.

Hy-Land Court RV Park and Campground

1 site · Ellison Bay, WI

Discover the charm of Hy-Land Court RV Park, a unique family-owned campground that has been a cherished destination in Door County since 1966. Nestled amidst stunning wooded landscapes and just a stone's throw from the picturesque shores of Door County, this campground offers an unparalleled experience for nature lovers and outdoor enthusiasts alike. Each campsite at Hy-Land Court is spacious, level, and beautifully landscaped, providing guests with the perfect blend of comfort and tranquility. The park's serene environment ensures privacy, making it an ideal retreat for families and friends looking to escape the hustle and bustle of everyday life. In addition to its natural beauty, Hy-Land Court RV Park is conveniently located near a variety of attractions. Explore nearby swimming holes, indulge in outdoor activities such as hiking and biking, or visit local restaurants and shops that showcase the best of Door County. Come and see why so many visitors consider Hy-Land Court RV Park a hidden gem in Ellison Bay, where unforgettable memories await.

Frontier Wilderness Campground

1 site · Egg Harbor, WI

Welcome to Frontier Wilderness Campground, a unique destination nestled in the stunning natural beauty of Door County, Wisconsin. Our campground stands out for its serene atmosphere, friendly community, and proximity to breathtaking state parks, pristine freshwater lakes, and winding rivers. Whether you’re an avid biker, boater, golfer, hunter, fisherman, or simply a nature enthusiast, our area is brimming with activities that cater to everyone’s interests. Since acquiring the campground from Ray and Carla Kempen in 2003, Jeri, Orv, and Todd Rasmussen have dedicated themselves to enhancing this already wonderful facility. We pride ourselves on maintaining a clean and beautiful environment while implementing modern upgrades to meet the evolving needs of campers. At Frontier Wilderness, family camping reaches new heights. Children of all ages will discover a wealth of activities or can simply unwind in the peaceful surroundings. Our welcoming staff is always ready to assist you in planning excursions beyond the campground, ensuring you experience all that Door County has to offer, from swimming holes to local restaurants and charming shops. In 2009, Todd took over the campground from Jeri and Orv, and in 2015, he married Cara. Together, they are committed to upholding the legacy of exceptional service that keeps our loyal guests returning year after year

Dovetail Acres Campground

126 sites · Sister Bay, WI

Dovetail Acres Campground stands out as a premier destination for outdoor enthusiasts seeking a modern camping experience. Our state-of-the-art facilities are designed to provide comfort and convenience, ensuring that every guest enjoys their stay to the fullest. At Dovetail Acres, we offer spacious campsites that allow for privacy and relaxation amidst nature. Our brand-new shower facilities are perfect for refreshing after a day of adventure. Additionally, our fully stocked convenience store on-site makes it easy to grab essentials or treats without having to venture far. Surrounded by stunning natural features, our campground is an ideal base for exploring nearby swimming holes and engaging in various outdoor activities. Whether you’re hiking, fishing, or simply enjoying the great outdoors, Dovetail Acres Campground is the perfect place to create lasting memories. Come experience the best in camping amenities and immerse yourself in the beauty of nature!

Aqualand Campground

1 site · Sister Bay, WI

Discover the charm of Aqualand, a unique campground that offers an exceptional blend of natural beauty and diverse outdoor experiences. Spanning 67 acres, our site features 150 campsites nestled among serene ponds, winding paths, towering trees, and expansive open fields, making it a perfect retreat for nature lovers. At Aqualand, you can immerse yourself in a variety of outdoor activities. Whether you prefer fishing in our tranquil ponds, hiking along scenic trails, or simply relaxing in the shade of our lush trees, there’s something for everyone. The open fields provide ample space for games and gatherings, ensuring a memorable camping experience. In addition to our beautiful landscapes, Aqualand is conveniently located near local attractions. Explore nearby swimming holes, indulge in delicious meals at local restaurants, or browse charming shops in the area. With so much to offer, Aqualand is the ideal destination for your next camping adventure, where you can create lasting memories in a stunning natural setting.

Rustic Timbers Door County Camping

66 sites · Egg Harbor, WI

Nestled in the heart of Door County, Rustic Timbers offers a unique camping experience that combines the beauty of nature with family-friendly amenities. Located just 3 miles south of the picturesque Egg Harbor, our campground spans 80 acres of stunning woodlands, providing a serene escape while being close to the county's top attractions. At Rustic Timbers, we pride ourselves on our spacious accommodations, featuring 100 large, wooded campsites, 120 seasonal sites, and a selection of 5 quaint rustic cabins alongside 15 luxurious deluxe cabins. Our facilities include beautifully maintained bathrooms and showers, ensuring a comfortable stay for all our guests. Our campground is packed with exciting amenities to enhance your visit. Enjoy a full camp store offering ice cream, a beer bar, and a snack shack. Dive into our updated heated swimming pool, zoom down the waterslide, or bounce on our two jumping pillows. For family fun, we have trampoline basketball and multiple playground areas. Don’t miss our Saturday night wagon rides, and take advantage of our laundry facility for added convenience. In addition to our fantastic amenities, Rustic Timbers is surrounded by the natural beauty of Door County, known for its 250 miles of shoreline, five state parks, and ten historic lighthouses. Explore nearby swimming holes,

Baileys Woods Campground

1 site · Baileys Harbor, WI

Discover the charm of Baileys Woods Campground, a unique family-owned retreat nestled in the heart of nature since 1960. With 85 spacious, heavily wooded sites, our campground offers a serene escape where you can truly reconnect with the great outdoors. Enjoy the privacy and tranquility that our well-spaced sites provide, making it the perfect destination for your next getaway. Conveniently located just a short 2-mile drive from Baileys Harbor and a mere 15 minutes from Fish Creek, you’ll have easy access to all the attractions Door County has to offer. Explore stunning natural features, take a dip in nearby swimming holes, or indulge in local dining and shopping experiences. The Terpstra family, known for their dedication and compassion, is committed to ensuring your stay is exceptional. We invite you to immerse yourself in the beauty of nature and create lasting memories at Baileys Woods. "We hope you enjoy your stay!"

Jellystone Park Door County

1 site · Sturgeon Bay, WI

Discover the unique charm of Yogi Bear’s Jellystone Park Camp-Resort, where family-friendly fun meets the stunning natural beauty of Door County. Nestled among lush landscapes, serene waters, and picturesque orchards, our campground offers a perfect blend of outdoor adventure and relaxation. With a variety of attractions and activities, we ensure that every guest has an unforgettable experience. At Jellystone Park, you can choose from a range of camping accommodations, including spacious campsites suitable for tents, travel trailers, and large motorhomes. Our facilities are designed to provide a comfortable and enjoyable family camping experience, complete with amenities that cater to all ages. Explore the breathtaking surroundings, featuring nearby lighthouses, swimming holes, and outdoor activities that invite you to connect with nature. After a day of adventure, unwind at local restaurants and shops that showcase the best of Door County. Join YOGI BEAR™ and create lasting memories at Jellystone Park, where you camp with friends!

Washington Island Campground

103 sites · Washington Island, WI

Discover the charm of camping on an island, where nature meets adventure at our unique campground, opening for the 2025 season on May 16th! We offer a variety of accommodations to suit every camper's needs, including rustic tent campsites, electric and water sites, a large group site, horse-friendly areas, and a selection of cabins. Choose from eight pet-friendly rustic cabins, two deluxe cabins, one premium cabin, or a travel trailer rental. Please note that all cabins and trailer rentals require campers to bring their own linens, towels, and cooking/eating utensils. At the heart of our campground lies a vibrant recreational area featuring a large swimming pond with a sandy beach, perfect for sunbathing and swimming. Families can enjoy the playground, challenge each other at the sand volleyball court, or have fun at the mini-golf course. Our main lodge boasts newly remodeled bathrooms with toilets and showers, along with a common area that includes a pool table, game room, and coin laundry facility for your convenience. Firewood and ice are available for purchase, and we also provide a free dump station for campers. Whether you're looking to relax by the water, engage in outdoor activities, or explore nearby attractions, our campground offers the perfect family getaway.

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Happy farmer sitting in a truck in a grassy field

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