Dog-Friendly Devil's Lake State Park: Trails, Beaches & Tips for Visiting With Your Dog

If you're looking for a Midwest getaway where you can bring your dog along for the adventure, Devil's Lake State Park in Wisconsin belongs on your list! Located just outside Baraboo, Devil's Lake is one of Wisconsin most popular state parks, known for its dramatic quartzite bluffs, beautiful lake views, rocky trails and miles of hiking opportunities. I recently spent a weekend exploring Devil's Lake with Ivy, and it quickly become one of those places where I wished I had more time. I packed a lot into two half days - hiking, swimming, watching the sunset, catching sunrise and exploring some of the park's most scenic areas.

Devil's Lake State Park at a Glance

Location: Baraboo, Wisconsin

Hiking: 29 miles of trails

Dogs: Allowed on leash

Vehicle admission: Required

Pet swim areas: Yes

Activities: Hiking, swimming, boating, rock climbing biking, camping, fishing, hunting, winter sports, & picnicking

Park hours: 6AM-11PM daily

Is Devil's Lake Dog-Friendly?

Yes! Devil's Lake is a great destination for hiking with your dog, but there are some important pet restrictions to know before you arrive. Dogs are allowed on most trails, roads, campgrounds, and other designated areas, but they must be kept on a physical leash no longer than 8 feet and under control.

Dogs aren't allowed on regular swimming beaches, picnic areas, buildings or trails marked as closed to pets. Read more on Devil's Lake pet rules here.

But there's good news for water-loving pups! Devil's Lake has designated pet swim areas. There is an on-leash pet swim area near the north shore boat launch and an off-leash pet swim area near the south shore boat launch. The south shore swim area was one of our favorite stops of the weekend because Ivy got to cool off after our hikes.

Tumbled Rocks Trail

Distance: 2.4 miles out & back

Elevation gain: 56 feet

Difficulty: Easy

Parking: Vehicle admission fee required

If you're looking for an easy dog-friendly hike with beautiful scenery, Tumbled Rock Trail is a great place to start. The trail follows the shoreline of Devil's Lake and passes through wooded areas and massive boulder fields. Despite all those rocks, the trail is mostly flat and relatively easy. There are sections where the trail passes directly through the boulders, but navigating the larger rocks is optional. You can stick to the easier portions or explore through the rocks if you're looking for a little more adventure.

For me, this trail was such a fun introduction to the park because you get a little bit of everything - trees, lake views, huge rocks and plenty of opportunities to stop and take it all in. Tip: Keep an eye of your dog's footing through the rockier sections. The rocks can be uneven, and some areas require more careful navigation.

Devil's Doorway & Balanced Rock

Distance: 1.6 miles

Elevation gain: 554 feet

Difficulty: moderate/strenuous

Parking: Vehicle admission fee required

If you're looking for something more challenging, this is where Devil's Lake really shows off. This trail may be short, but don't let the distance fool you. This trail is steep, uneven, and rocky. This is a very different experience from Tumbled Rocks Trail. You'll be climbing over rocky terrain, so good footwear is important. It's also worth taking your time, especially if you're hiking with a dog. I saw some reviews on AllTrails that this trail is not really dog-friendly, I would agree this would be a tough hike for smaller dogs. My two year old golden retriever loved this hike and did very well!

Where Can Your Dog Swim?

This was one of my favorite things about Devil's Lake. Dogs are not allowed on the main swimming beaches, but the park has designated pet swim areas, including one near the south shore boat launch. We visited the south shore pet swim area after hiking, and Ivy absolutely loved it!

We visited the blue area (off leash swim)

If you plan to visit the off leash pet swim area, here is what to know before you go. It is a smaller beach area, and it is located very close to the road. The road nearby has a speed limit of 15mph, and most cars were driving slow. There is also a sidewalk along the road that has a lot of people walking by. If your pet doesn't have great recall, this may not be the spot for you. I did not visit the on leash swim areas, so I am not able to give any tips for those areas.

Parking & Park Admission

One thing to know before you arrive: Devil's Lake requires a Wisconsin State Park System vehicle admission pass.

For 2026, the daily vehicle fee is:

• Wisconsin plates: $13

• Out-of-state: $16

A 12 month pass is also available if you plan to visit multiple Wisconsin State parks. You can purchase an admission pass at the park or ahead of time. There are self-service credit-card kiosks at the park, including at the south shore entrance station.

Tip: Go early is you're visiting on a weekend. Devil's Lake is extremely popular, especially during the summer and fall. The Wisconsin DNR warns the parking lots can fill before 9 am on busy weekends and that access can temporarily be restricted when the park reaches capacity.

Where We Stayed

For our weekend at Devil's Lake, we stayed at the Avid Hotel in Wisconsin Dells, and it ended up being a great home base for exploring the area. The hotel was only about a 15 minute drive from the park, which made it really easy to get back and forth to the park without spending a ton of time in the car. It was also close to pretty much anything we needed, with lots of restaurants nearby.

Most importantly for us, the hotel was very dog welcoming. There were poop-bag stations both outside near the grassy area and right by the front entrance. The staff was also incredibly kind and welcoming to Ivy throughout our stay. After a full day of hiking and exploring, it was nice having a comfortable place to come back to that was convenient, dog-friendly, and close to everything.

Can You Camp at Devil's Lake?

Absolutely. Devil's Lake has three regular campgrounds with 423 campsites, plus nine group campsites. Reservations are required. The three main campgrounds are Quartzite Camground, Northern Lights Campground, and Ice Age Camground. Quartzite is open year-round, while Northern Lights and Ice Age typically close during the colder months. If camping isn't your thing, there are plenty of lodging options in nearby Baraboo and Wisconsin Dells.

Our Dog-Friendly Devil's Lake Weekend

Saturday

Lunch at Tumbled Rocks Brewery (dog-friendly patio)

Tumbled Rocks Trail

Ivy's first swim

Check into the Avid Hotel

Dinner nearby

Sunset at Devil's Lake

Watching the sunrise from the south shore

Sunday

Sunrise at the lake

Devil's Doorway + Balanced Rock

One last swim for Ivy

Headed home

Tips for Visiting Devil's Lake With Your Dog

1. Go Early. The park gets incredibly busy, especially on weekends during summer and fall.

2. Bring plenty of water.

3. Bring a towel. If your dog loves water, you'll definitely want one after visiting the pet swim areas.

4. Don't assume every beach is dog-friendly. Dogs are prohibited on the regular beaches but allowed at designated pet swim areas.

5. Wear good shoes. Some trails at Devil's Lake are extremely rocky and steep.

6. Give yourself more time than you think you'll need. There is a lot to see here.

More to Explore Nearby

• Mirror Lake State Park

• Parfrey's Glen State Natural Area (dogs not allowed)

• Downtown Baraboo

• Wisconsin Dells