The Ultimate Dog-Friendly Door County Guide: Things to Do, Eat & Stay in Wisconsin
- Angelina Ly
- Jul 30
- 17 min read
Door County is one of Wisconsin's most beloved getaways—and you don't have to leave your dog behind to enjoy it. I've been coming to Door County every summer since I was a kid, and now I always bring my dogs along and they have the best time. From scenic hikes along Lake Michigan to waterfront patios and pup-friendly wineries, Door County has more to offer four-legged travelers than most people realize. Every visit, I discover something new that makes the experience even better.
This guide covers everything you need to plan an unforgettable trip with your dog: where to stay with your dog, the best hiking, beaches to swim, restaurants, wineries, breweries, things to do, and hidden gems across the peninsula. Plus, all of my favorite places to go, off-leash spots for your dog, where to watch the sunset with your dog, and instagrammable spots for dogs. Consider this your go-to resource for exploring Door County together.
Click to Skip to a Specific Location:
Before You Go: What Every Dog Owner Should Know About Door County
A little prep goes a long way. Before you hit the road, here's what you need to know.
Leash Laws in Door County
Most parks and public spaces in Door County require dogs to be on a leash at all times—typically 6 feet or shorter. This applies to state parks like Peninsula and Newport, as well as most beaches and downtown areas. Even in places where dogs are welcome, unleashed pets can result in fines or being asked to leave. A retractable leash might feel convenient, but a fixed 6-foot leash gives you better control and keeps your dog safer on narrow trails and crowded paths.
Best Time to Visit Door County with a Dog
Late spring (June) and early fall (September) are the sweet spots. The weather is mild, the crowds are lighter, and many outdoor spaces feel more relaxed. Summer is gorgeous but busy—especially July and August—so expect full parking lots at popular trailheads and beaches. If you visit mid-summer, aim for early morning outings to beat the heat and the crowds. And make sure you bring dog shoes for the hot pavement and enough water for summer hikes. Visiting in the winter is much harder with a dog, it gets very cold, a lot of the seasonal places are closed, and all the outdoor patios are all closed as well.
Dog Etiquette Tips
Door County residents and business owners are generally welcoming to well-behaved dogs, being mindful and respectful go a long way:
Always pick up after your dog (bags are sometimes provided at trailheads, but always bring your own to be safe)
Keep your dog calm and close around other visitors, their dogs, and wildlife
Respect "no dogs allowed" signage where applicable
Dog Friendly Door County Google Map
For your dog-friendly adventures across Door County, check out my free Dog Friendly Door County Map! It features all the dog-friendly spots I've discovered and recommend over the years. And the best part? As we continue exploring with our dogs, we'll keep adding new recommendations to the map!
Dog-Friendly Hotels & Cabins in Door County
Accommodation options for dog owners have expanded significantly across Door County. A few types of places to look for:
Vacation rentals (Airbnb/VRBO) — Often the most flexible option, especially if you want to leave your dog's at home while you're out or if you need private yard space. Filter by adding pets to the reservation and you'll find everything from cozy cottages to lakefront cabins.
Boutique Motels and Inns — Several smaller, independently owned properties welcome pets with a nightly fee. Keep in mind that hotels usually do not let you leave your dog unattended in the room, even if they are well behaved. These are a couple of my favorites:
The Holiday Music Motel (Sturgeon Bay)
Open Hearth Lodge (Sister Bay)
Julie's Motel (Fish Creek)
Campgrounds — Camping is super popular in door county, so all of the state parks have campgrounds. There are also a few other private campgrounds that offer different amenities depending on what you're looking for. Some of the best dog friendly campgrounds are:
Monument Point Camping (Sturgeon Bay)
Fish Creek Campground (Fish Creek)
Baileys Grove Campground (Baileys Harbor)
Dovetail Acres Campground (Sister Bay)
Aqualand Campground (Sister Bay)
Dog-Friendly Hikes & Parks in Door County
Potawatomi State Park (Sturgeon Bay)
Located along the shores of Sturgeon Bay, this park features a variety of trails that allow dogs with wooded paths, picnic spots, and water access for kayaking or fishing. Check out Potowatomi tower for an epic view of the area.
Whitefish Dunes State Park (Sturgeon Bay)
One of Wisconsin's most impressive natural landscapes, Whitefish Dunes features towering sand dunes and trails that wind through diverse ecosystems. Dogs are permitted on the trails (on leash) but aren't allowed on the beach. There is a dog-friendly beach a little south from the parking lot.
Cave Point County Park (Sturgeon Bay)
Cave Point's rocky limestone shoreline, crashing waves, and dramatic caves make it unlike anything else on the peninsula. Dogs are allowed here on a leash, and the trail system is relatively short and accessible. It's best visited in the morning when the light is stunning and the foot traffic is low. There are a few areas where you can get close to the rocky shore and your dog can enjoy cooling off in the water.
Toft Point State Natural Area (Baileys Harbor)
The trails here are quiet and rugged, leading you through forest, wetlands, and rocky outcrops. Walking along the shoreline, you'll hear the waves on the rocks, and it's a popular spot for birdwatching in the spring.
Peninsula State Park (Fish Creek)
Peninsula State Park is the most popular of Door County's outdoor scene, and dogs are welcome on most of its trails. With over 20 miles of paths winding through trees, bluffs, and along the bay, there's no shortage of ground to cover. The Sentinel Trail and Minnehaha Trail are particularly popular for dogs. Unfortunately, dogs are not permitted on the beach areas within the park.
Newport State Park (Ellison Bay)
Newport sits further up the peninsula, which means fewer crowds and a sense of solitude that is a nice escape from the busyness of the towns. Dogs are allowed on leashed trails, and the park's rugged shoreline and dense forest make for a memorable adventure. Pack your bug spray—this one's more remote.
Ellison Bluff State Natural Area (Ellison Bay)
If you’re craving jaw-dropping views, Ellison Bluff State Natural Area has towering cliffs, lush greenery, and panoramic views of Green Bay. The short, scenic trails here are perfect for bringing your pup along.
Europe Bay Woods State Natural Area (Ellison Bay)
This little haven is filled with old-growth forests, peaceful creeks, and quiet trails. Since it's less popular, it's a great place to go hiking with your dog - especially if they're a bit reactive.
Door Bluff Headlands County Park (Ellison Bay)
Located near Ellison Bay, this is another park with impressive shorelines, rocky cliffs, and winding forest trails. It's less developed than some other parks in the area, so it's perfect for bringing your dogs.
Dog-Friendly Places to Swim in Door County
Sunset Park & Beach (Sturgeon Bay) - Beautiful park close to downtown Sturgeon Bay that lets your leashed dog walk around and swim.
Frank E. Murphy Park (Egg Harbor) - This small park allows leashed dogs on the beach and the pier, and is tucked away so it's less crowded than a lot of other areas.
Dog Beach (Whitefish Dunes) - While dogs aren't permitted on the main beach at Whitefish Dunes State Park, the Dog Beach is about 1.5 miles south from the parking lot and many people have their dogs off leash in the water.
Lakeside Park Beach (Sturgeon Bay) - Lakeside Park in Sturgeon Bay has designated areas where dogs are permitted. It's a scenic, low-key spot that's great for a mid-trip swim stop.
Pebble Beach (Sister Bay) - This unique, rocky shoreline lives up to its name with smooth, rounded pebbles instead of sand, offering a pretty private swimming spot for you and your pup. Just be sure to bring water shoes for those pebbles.
Dog-Friendly Restaurants in Door County
Several restaurants across the peninsula welcome dogs on their outdoor patios. Here are a few of my favorites in order from the southernmost end of Door County to the North. For the full list, check out my Dog Friendly Door County Map.
Coffee Shops
If you're looking for a quick stop just to grab something, here are some spots that allow dogs to come in with you while you wait for them to make your drink. Some of them have also have pastries for sale.
Pinky Promise Coffee (Sturgeon Bay) - cute downtown coffee shop that allows pups inside while you get your order.
Happy Coffee (Sister Bay) - Dog friendly while you order, and they offer pupachinos!
Bayside Coffee (Fish Creek) - This cozy cafe serves coffee and yummy breakfast sandwiches with an outdoor window.
Kitty's Coffee (Fish Creek) - This little coffee trailer is inside Peninsula State Park, so it's the perfect if you are a early riser for exploring.
Breakfast/Café
If you're looking for a heartier sit down breakfast spot, here are a few of my favorites that have outdoor patios that allow dogs.
Bluefront Cafe (Sturgeon Bay) - Outdoor shaded patio is perfect for breakfast or lunch with your pup.
Scaturo's Baking Co & Cafe (Sturgeon Bay) - Delicious breakfast foods.
Big Easy (Egg Harbor) - Known for it's hearty big portions and new orleans style beinets, with a cute outdoor patio.
Blue Horse Beach Cafe (Fish Creek) - cozy patio across from a beach where you can grab coffee, breakfast sandwiches and burritos.
Good Eggs (Ephraim) - Mostly outdoor casual breakfast spot where you can get a really good breakfast burrito and enjoy it with your dog.
Chef's Hat Cafe (Ephraim) - Outdoor patio serving yummy breakfast classics.
Caroll House Restaurant (Sister Bay) - Beautiful backyard garden patio that allows dogs. Known for their delicious homemade waffles!
Lunch
For a casual lunch, here are a few spots that our dog's have loved, specifically with shaded tables and areas so they don't overheat while you eat.
Waterfront Mary's (Sturgeon Bay) - Casual bar and grill right along the water open all day. Great spot for lunch or dinner and they have a covered patio as well as open tables in the back patio and live music some nights.
Mauricio's Mexican Food Truck (Sturgeon Bay) - Impressively delicious mexican food! I recommend the al pastor, fish and shrimp tacos as well as the carnitas quesedilla.
The Hitching Post Bar & Grill (Sturgeon Bay) - This spot is laid back with a homey backyard patio, and often plays live music.
Pizza Bros (Egg Harbor) - Connected to One Barrel Brewing, this outdoor pizza window serves some of the best gluten free pizza we've ever had. Hangout on the patio and enjoy some beers on tap as well.
Prince of Pierogi (Ephraim) - Some of the best pierogi's you can get! Outdoor tables with umbrellas for shade.
Wilson's Restaurant & Icecream (Ephraim) - Vintage soda fountain spot with a classic look, patio tables outside, serving food and icecream.
Stabbur Beer Garden (Sister Bay) - Although Al Johnson's is not dog friendly, their outdoor beer garden is! They have an outdoor bar and food window that you can order some tasty bites (and swedish meatballs with lingonberries!) while looking at the rooftop goats next door.
Blue Bear (Ellison Bay) - This brunch/lunch spot has the cutest outdoor patio, but it only opens at noon.
Dinner
For some dinner spots, here are a few places that are a little most upscale with more offerings. Many of these can get quite crowded in the summer, so be sure to make a reservation ahead, and let them know you'll be traveling with your pup so they can note that you need an outdoor table.
Mezzanine (Egg Harbor) - This upstairs rooftop restaurant surprisingly allows dogs, just take them through the first floor and up the stairs onto their outdoor patio for some great food and views of the water. We loved their refreshing cocktails and mussels.
LURE (Sister Bay) - This popular seafood restaurant is a bit more on the high end side, but they have a beautiful and large patio that allows dogs.
Harbor Fish Market & Grill (Bailey's Harbor) - This seafood restaurant has beautiful outdoor tables overlooking the water of Lake Michigan.
Thyme Restaurant & Catering (Sister Bay) - This restaurant has a super tasty menu inspired by global flavors, and has a covered outdoor patio to eat with your pup. They don't take reservations though, but you can wait for your table at the wine bar next door.
Fish Boils
No trip to Door County would be complete without experiencing a traditional fish boil. It's one of my favorite parts about Door County, and we love hanging out with our pups by the fire while they cook. They usually offer other options as well like ribs or burgers for those who don't like fish, and always finish off with some cherry pie.
Pelletier's Restaurant & Fish Boil (Fish Creek) - Great spot in downtown Fish Creek that has a hourly fish boil dinner on the weekends in the summer. It's very dog friendly outside and you can relax while you learn about the history and watch them cook before eating on one of their patio tables.
Old Post Office (Ephraim) - This eatery is converted from the historic post office of Ephraim, and has a great fish boil with outdoor tables where you can look across the street while the sun sets over the water.
Dessert
We love indulging in a sweet treat after dinner (or even throughout the day). Here are places that specifically have walk up windows that you can go to with your pup.
Island Fever Run Bar & Grill (Sturgeon Bay) - This bar and grill has a backyard with lawn games and a firepit in the back, as well as a ice cream truck.
Not Licked Yet Frozen Custurd (Fish Creek) - One of the best and most popular custurd spots. They have small pup cones that they give for free!w
Wilson's Restaurant & Ice Cream Parlor (Ephraim) - This spot is classic for ice cream and sundaes, dogs are allowed on the patio tables at the front and you can place your order inside.
Door County Ice Cream Factory & Sandwich Shop (Sister Bay) - This spot serves good ice cream along with pizza, and they have a window that you can order from!
Indoor Dining Note
Indoor dining with dogs is not permitted in Wisconsin food service establishments due to state health codes. Your best bet is always to call ahead and confirm patio availability and pet policies, especially during peak season when restaurants may adjust rules based on capacity.
Dog-Friendly Wineries, Breweries & Cideries
One of the best parts of Door County with a dog? Many of the peninsula's beloved drink spots welcome well-behaved pups on their patios and grounds.
Wineries and Wine Bars
Parallel 44 Vineyard & Winery (Sturgeon Bay) - A popular spot for unique wine's from the area, dogs are allowed inside and outside.
Door Peninsula Winery (Sturgeon Bay) - One of the most visited wineries in the Midwest, Door Peninsula Winery has expansive outdoor grounds where dogs are welcome.
Anchored Roots Vineyard & Winery (Egg Harbor) - This spot allows dogs inside if they're not too busy, as well as on their partially covered outdoor patio and they have great wines. We loved their Grenache and Syrah and their cheese spread and board.
Harbor Ridge Winery (Egg Harbor) - This spot does not allow dogs inside, so not ideal if you are traveling alone, but if someone can stay outside on their patio while the other goes in, they have great frozen wine drinks, and they are next to my favorite cheese shop (Wisconsin Cheese Masters) that I always stock up at when I'm in door county!
Stone's Throw Winery (Bailey's Harbor) - This adorable winery is tucked away with a beautiful dog friendly outdoor patio.
Lautenbach's Orchard Country Winery & Cider Co (Fish Creek) — Set among cherry orchards with a beautiful view, Lautenbach's has a relaxed, family-friendly atmosphere that extends to four-legged guests. The outdoor area is particularly dog-friendly and you can get some really cute photos!
Helioterra Wines Door County (Fish Creek) - The owner os this wine bar is a Wisconsin native and Oregon winemaker who recently opened up a shop outside of Fish Creek. There are a few outdoor patio tables that she does tastings at and the wines are exceptional.
Pearl Wine Cottage (Ephraim) - Cute downtown wine club with outdoor seating and charcuterie boards.
Twelve Eleven Wine Bar + Provisions (Sister Bay) - This wine bar is great for enjoying a glass or bottle, but doesn't offer tastings. It's got a nice outdoor area with a firepit, and has a build your own charcuterie board.
Breweries
One Barrel Brewing (Egg Harbor) - A popular stop for craft beer lovers, One Barrel Brewing welcomes dogs in their large outdoor seating area.
Stabbur Beer Garden (Sister Bay) - Next to the popular Swedish restaurant Al Johnson's, their beer garden is sprawling with tables and an outdoor bar that lets you enjoy a brew on tap with your dogs while checking out the rooftop goats next door.
Peach Barn Farmhouse and Brewery (Sister Bay) - Dogs allowed both inside and outside this cute brewery!
Door County Brewing Co. (Baileys Harbor) — Easily one of the most Instagram-worthy breweries on the peninsula, Door County Brewing Co. has an expansive beer garden where dogs are welcome. They also have a food truck that serves good barbeque.
Sway Brewing + Blending (Baileys Harbor) - This brewery is also a cafe in the morning with good breakfast burritos, and they have ciders and brews that you can enjoy on their patio with your dog.
Bridge Up North at The Cherry Hut (Fish Creek) - This brewpub is super dog friendly and is great for enjoying a beer and live music.
Cideries
Island Orchard Cider (Ellison Bay) - This taproom has flights of apple and pear ciders, with an outdoor patio that you can hang with your dogs.
Dog-Friendly Things to Do in Door County
Cherry Farms
Door County is famous for its cherry orchards, and there are a few farms welcome leashed dogs. It's a uniquely Door County experience, and the cherries (obviously not for your dog) are incredible in season. Best time to visit for cherry picking is the first few weeks of July.
Robertson Cherry Orchard (Sturgeon Bay) - We've gone to this orchard a few times now, and they have tons of cherry picking as well as raspberries. They also have a few farm dogs on the property roaming around so keep that in mind if you bring your pup.
Soren's Valhalla Orchards (Sturgeon Bay) - This orchard is next on our list to try! We've heard they give dogs a treat when they visit.
Lautenbach's Cherry Orchard (Fish Creek) - Another option for going cherry picking with your dog, this orchard is connected to a winery and farm store as well with a cute outdoor area with a cherry pit spitting game.
Kayaking
Several kayak outfitters along the peninsula allow dogs to join the fun. Kayaking with a dog is one of the best things you can do here. Door County Kayak Tours is great for a guided tour of the cliffs and waters, just make sure you bring a life jacket for your dog.
Boat Rental
Plenty of boat rental operators around the peninsula welcome leashed dogs aboard. It's worth calling ahead to confirm, but a sunset cruise with your dog along Green Bay is hard to beat. We rented a pontoon from Door County Boats out of Ephraim and had a lot of fun playing frisbee with the dogs. I took the online safety course for the boat rental which was pretty quick, and we brought our own life jackets for the dogs.
Shopping Downtown
Towns like Fish Creek, Sister Bay, and Egg Harbor have charming downtown areas where dogs are welcome to stroll along the sidewalks. Many boutique shops are dog-friendly inside as well - look for signs in the window for if they allow dogs. Here are a few of my favorites to check out!
Door County Dog Store/Stove Cog Bakery (Sturgeon Bay) - If you're looking to shop specifically for the pup, this store has everything you need, along with the cutest door county cookies from their bakery!
Wish (Egg Harbor) - This cute boutique is owned by a dog lover and has a whole section dedicated to dog goodies. She was so sweet and pointed us to the treats immedietly!
Skyway Drive in Movie
One of my favorite things to do at night is going to their old school drive in movie theater. They have two different showings every night in the season, starting around 7:30pm and 11:00pm. Bring some blankets, lawn chairs, and games and enjoy some classic movie theater concessions with your dog.
My Favorite Dog-Friendly Spots in Door County
If I had to pick a short list of absolute must-visits with a dog, here's where I'd send you:
Cave Point County Park — No other spot on the peninsula looks quite like this. It's probably my favorite of all the state parks there, but it can get crowded so I'd recommend going in the morning.
Door County Brewing Co. — The beer garden is massive, the beer is excellent, and the vibe is relaxed. Perfect for an afternoon pit stop, and the food stand in the front is so good too. Really yummy BBQ and cornbread.
Lautenbach's Orchard — Sipping cherry wine in an orchard with your dog feels like something out of a postcard. It's also generally very family friendly as well.
Stabbur Beer Garden - Great mid-day spot where you can get good food, drinks, relax on a grassy patio and watch the signature goat's on the roof
Old Post Office Restaurant - A signature fish boil dinner with a show. Learn some history, watch a big fire, and eat some really good fish and cherry pie. Then enjoy the sunset afterwards across the street by the water.
Not Licked Yet - Frozen custurd is a must!
Off-Leash Areas in Door County
Dedicated off-leash dog parks are limited on the peninsula, but a few options exist:
Shiloh Road Bark Park (Sturgeon Bay) - Large off leash dog park with wooded trails for your dog to hike with you.
Captain Bailey's Dog Park (Bailey's Harbor) - This fenced in off leash dog park has acres for your dog to run, along with shaded areas, benches, and poop bags if you forgot them!
Sister Bay Dog Park (Sister Bay) - One of the more established off-leash areas in Door County. Fully fenced and a great spot for your dog to burn off some energy.
Best Sunset Spots with Dogs in Door County
Door County sunsets are legendary. Since the sun sets on the west, here are the spots where you can enjoy them with your pup:
Harbor View Park (Egg Harbor) - This park is adorable and has a great view of the harbor and the water, with grassy space for a picnic or benches to just sit and enjoy the view.
Sunset Beach Park (Fish Creek) - This gem in Fish Creek is the perfect spot to watch the sun melt into the horizon. Bring a blanket, some snacks, and a bottle of wine and enjoy the vibrant colors with your dog by your side.
Most Instagrammable Dog Photo Spots in Door County
Door County practically begs to be photographed, and a dog in the frame only makes it better. Top spots for that perfect shot:
Cherry Orchard Rows - Pastoral, colorful, and uniquely Door County. For a good photo, I recommend running away and towards the camera while someone snaps away and gets an action shot of you and your pup running.
Greetings from Door County Sign - Your can find this colorful sign between the Space and Analog Ice Cream and Coffee in Sister Bay
Pier Across Old Post Office Restaurant - Before or After dinner at the Old Post Office in Ephraim, go across the street by the water and et some photos on the pier in the adirondack chairs and at the park with the sunset.
Lautenbach's Orchard - This wine bar and orchard has a bunch of cute photo spots all around, especially the cherry pit spit!
Sturgeon Bay Maritime Museum - If you walk by the pier at Sturgeon Bay, the ships by the Maritime Museum are a great backdrop for photos.
Plan Your Trip: Door County Is Better With a Dog
Door County is perfect for a trip with dogs. The peninsula's mix of trails, waterways, laid-back patios, and small-town charm makes it one of the Midwest's most dog-friendly destinations.
The key is doing a little homework before you go: confirm pet policies, pack the essentials (water, bags, leash, and maybe a beach towel), and give yourself enough time to wander. Door County will still be beautiful without your dog. But it's a whole lot more fun with them.
Frequently Asked Questions About Door County
Are there off-leash dog parks in Door County?
There are a few established off-leash dog park in Door County. They are all fully fenced and free to use. Additional off-leash options may be available on private rental properties across the peninsula.
Can I bring my dog to Door County wineries and breweries?
Many wineries and breweries on the peninsula welcome leashed dogs on their outdoor patios and grounds. Always call ahead if you're not sure to confirm current policies.
Are dogs allowed on Door County beaches?
Beach access for dogs varies by location. Dogs are generally not permitted on the main beach at Whitefish Dunes State Park. Some public beach areas and private lake access points allow leashed dogs.
What should I pack for a dog-friendly trip to Door County?
Essentials include a 6-foot leash, waste bags, collapsible water bowl, a portable water supply, a dog first aid kit, and any medications your dog requires. A beach towel for post-swim drying and a cooling mat for hot summer days are also worth considering.
Comments