Crane Flat Campground sits right on Highway 120 about 30 minutes northwest of Yosemite Valley, making it a solid base if you want easier access to the park without fighting valley crowds. The campground has 166 sites spread across the area, with spots that can accommodate RVs up to 35 feet and trailers up to 27 feet. At $20 per night with a maximum of 6 people per site, it’s straightforward and affordable.

The catch is that you’ll need reservations—the campground stopped taking first-come, first-served bookings for most sites, and spots fill up quickly. You can book online up to about five months in advance, which means planning ahead is essential. The campground operates July through September (though exact dates vary year to year, so check before you commit to travel). Summer weekends go fast, so if you’re flexible on timing, weekday stays are your best bet.

Bring your dog prepared for limited trail options. Yosemite’s pet policy is pretty restrictive—dogs aren’t allowed on actual hiking trails or in wilderness areas. What you can do is walk your dog on fully paved roads and walkways around the park, and there’s the Meadow Loop in Wawona if you’re willing to drive a bit. Within the valley itself, paved paths on the Valley Floor are your option. Your dog needs to stay leashed at all times, and you absolutely cannot leave them tied up or unattended anywhere in the park—unattended dogs get impounded.

Pack your own waste bags (the park doesn’t provide them), and keep in mind that dogs aren’t permitted in group sites or horse sites. It’s manageable if you’re realistic about what a Yosemite camping trip with a dog looks like—more about having a base camp and enjoying the valley scenery on a leash than ambitious backcountry hiking. The location on Highway 120 does give you reasonable road-trip access to other areas if you want to explore beyond the park boundaries.