Planning a road trip with your four-legged friend? Be sure to check out these hiking trails and destinations! Enjoying the outdoors is a beautiful way to spend time with your dog. I’ve gathered 20 dog-friendly hiking trails and locations for you and your dog to visit. 

Check out the Wisconsin DNR website for more (and updated) information.

Disclaimer: some of the trails have segments or areas where dogs AREN’T allowed. Most of these options also require dogs to be leashed. Always do your research ahead of time. 


Hiking in Southeast Wisconsin

Nordic Skiing and Hiking Trails, Walworth County

The Nordic Trail is a system of novice and intermediate trails looped together. It’s great for skiers in the winter, and great for dog-friendly hiking in the warmer months. Each trail differs in length and difficulty. 

Stigler Nature Preserve, New Berlin

The Stigler Nature Preserve is a popular choice for dog owners. There’s a small trail (roughly 1 mile) that loops through the forest. Perfect for dogs! 

Ice Age Trail – HWY 67 Trailhead, Waukesha County

The Eagle Segment of the Ice Age Trail is a point-to-point 8.5-mile trail. It’s recommended for all skill levels and dogs are welcome.

Scuppernong Trail System, Waukesha County

There are three loops ranging from 2 to 5 miles and with difficulty ranging from intermediate to advanced. You’ll hike through a range of pine plantations and hardwood forest. These trails are popular for dog-friendly hiking. NOTE: be sure to look up “Scuppernong Trail System” or “Scuppernong Trailhead” since there’s also a nature trail that doesn’t allow dogs.


Hiking in Southcentral Wisconsin

Ice Age Trail – Robertson Trail Head, Dane County

Hike the trails and walk the prairies on the Eastern Lodi Marsh Segment. It’s moderately difficult, so bring your hiking shoes and plenty of water for you and your dog!

Governor Nelson State Park, Dane County

Dogs are welcome in the Governor Nelson State Park during the summer months. It’s a 422-acre park offering lots of different settings, like beaches, play equipment, and picnic areas. 

Ice Age Trail – Table Bluff Segment, Dane County

The Table Bluff Segment is an out-and-back trail, roughly 4.5 miles long. Traverse the rolling hills, valleys, and forests with your dog.


Hiking in Southwest Wisconsin

Governor Dodge State Park, Iowa County

With 5,270 acres of nature to explore, Governor Dodge State Park is a great place to visit. The park has two lakes and even a waterfall! Dogs aren’t allowed on the beach, but there is a pet swimming area as well as a pet picnic area.

East Bluff Trail, Baraboo

The East Bluff Trail is a 2.6-mile trail in Devil’s Lake State Park. It’s rated to be moderately difficult. It’s one of the more popular trails, and it’s dog-friendly!


Hiking in West Central Wisconsin

Elroy-Sparta State Trail, Monroe County

This trail is 32.5 miles long that stretches between Elroy and Sparta. It was the first rail-to-trail conversion in the country. It’s a popular destination, and it offers a lot of beautiful sights. Dogs are welcome on leashes that are 8 feet or shorter. 

Willow River State Park, St. Croix County 

Willow River State Park is a gorgeous location, stretched out over 2,891 acres. Dogs are welcome on leash. Check out Willow Falls and the Willow River Gorge!


Hiking in Central Wisconsin

Mascoutin Valley State Park Trail, Rosendale

What used to be a railroad corridor is now the Mascoutin Vallet State Park Trail. Its two sections combined offer 21 miles of walking. If you’re up for a day of exercise for yourself and your dog, check it out!

Rib Mountain State Park, Marathon County

Near the city of Wausau sits the Rib Mountain State Park, a lovely 1,528-acre park with 15.1 miles of trails. It boasts a ski resort, amphitheater, picnic areas, and more. The trails are rated as moderate. 


Hiking in East Central Wisconsin

Kettle Moraine State Forest – Northern Unit, Fond du Lac County

The Northern Unit of the Kettle Moraine State Forest has over 125 miles of trails. It covers about 30,000 acres, which is plenty to have fun with your dog!

Greenbush Trails, Sheboygan County

Greenbush Trails is a great place for hiking as well as mountain biking. 5 hiking trails are woven into 4 challenging mountain biking loops, creating one epic outdoor experience. Remember to keep off these trails when snow is present, as they become designated ski trails!


Hiking in Northwest Wisconsin

Pattison State Park, Douglas County

Ready to visit the highest waterfall in Wisconsin? Go see Pattison State Park! There are 1,436 acres of land in the park, ready to be explored. Pets are allowed on leash, and there are pet picnic areas there as well. 


Hiking in Northcentral Wisconsin

Ice Age Trail – Lake Eleven Segment, Taylor County

Ice Age Trail Lake Eleven Segment is a 15.5-mile point-to-point hike. It’s a pretty intense hike, and it’s common to see backpackers there. Dogs are able to use the trail, but be careful if you plan to be there for a while. 

Copper Falls State Park, Ashland County

If you’re looking for spectacular views and some fun hikes, check this one out! Copper Falls has an intriguing history and a gorgeous landscape. Visit the waterfalls and have a fun day at the park!


Hiking in Northeast Wisconsin

Rock Island State Park, Door County

Right off the tip of the Door Peninsula, Rock Island State Park is a great place to go with your dog. It’s accessible by ferry and you can explore the island’s wonders, like the old stone buildings. 

Cave Point County Park, Door County

Go visit Cave Point County Park and have the time of your life! The scenery is one of a kind. There are underwater caves, cliffs, and hiking trails you can walk with your dog. 


In Conclusion

I hope you found some places you’d like to visit. I’ve been to a few of these myself, and they’re truly amazing. Now’s the time to make new memories with your dog. What better place to do that than on dog-friendly hiking trails?

Check out my article on how to Hike Safely with Your Dog.