Pet-friendly vacation rentals in Milford

Find and book unique pet-friendly homes on Airbnb

Top-rated pet-friendly home rentals in Milford

Guests agree: these pet-friendly homes are highly rated for location, cleanliness, and more.

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Guest favorite

Home in East Stroudsburg

4.97 out of 5 average rating, 171 reviews

Dog Friendly🐶 Lakefront🎣 Hot Tub🔥 Newly Renovated🤩

This newly renovated 3000 sqft lakefront property features close to 1000 sqft of lakefront decking/patio space, ample driveway parking for guests, direct lake access for kayaking or fishing, a BBQ grill, hammocks, 6 person hot tub, & much more! The ground floor features 2 bedrooms, a full bath, family room, game room, & laundry area. The 2nd FL has a full kitchen, 4 bedrooms, living & dining rooms and 2 full baths. The house has central air heating & cooling. FREE access to community amenities!

Top guest favorite

Cottage in Roscoe

4.98 out of 5 average rating, 103 reviews

Roscoe Cottage Pet Friendly

Welcome to Roscoe, Trout Town USA! Escape 2 the mountains with your family & pets 4 a rustic getaway. At Roscoe Cabin Pet Friendly, we provide a complimentary bottle of wine with your booking. Enjoy strong WiFi, big fire pit, bbq & a stocked kitchen. Our property is nestled in the woods at the top of the mountain very peaceful offering access hundreds of trails, lakes, and brooks for endless adventures. Only 14 miles to Bethel Woods Concert Venue. We look forward 2 hosting you & your 🐶soon!

Top guest favorite

A wooden dock extends over still water, framed by lush greenery and tall grasses. A rowboat is partially visible at the dock's edge. The sky displays vibrant colors as the sun sets, casting a peaceful ambiance over the lake.

Home in Coolbaugh Township

4.97 out of 5 average rating, 144 reviews

Lakefront retreat w/rowboat & suana. Dogs allowed.

Lakefront retreat in the Poconos with Boat & Sauna! Dog-friendly. - Spacious 3BR/2BA home with stunning views of Pocono Summit Lake. - Dog-friendly and conveniently located near popular attractions like Kalahari, Camelback, Jack Frost, Mt. Airy Casino, grocery and the Outlets. - Relax and enjoy the beauty of the Poconos on the deck overlooking the lake. - Enjoy all the watersports and fishing the lake has to offer with rowboat, electric motor, 2 kayaks, paddleboard, firepit and charcoal grill.

Superhost

A spacious living area is furnished with a large sectional sofa adorned with bright yellow cushions. A round coffee table is centered on a soft carpet. In the background, a cozy sleeping area is visible, featuring a neatly made bed with light bedding, flanked by windows allowing natural light.

Home in East Stroudsburg

4.84 out of 5 average rating, 102 reviews

Waterfront, Mountain Views, Dog Friendly, Fire Pit

Escape to your private waterfront retreat, where breathtaking mountain views and tranquil surroundings await. Unwind in comfort with a plush king bed, perfect for restful nights, and enjoy peaceful evenings by the fire pit. This secluded, dog-friendly haven offers direct access to the river, ideal for outdoor exploration or quiet reflection. Whether you're seeking relaxation or adventure, this serene paradise is your perfect getaway. Book now for an unforgettable experience in nature’s embrace!

Superhost

Cabin in Albrightsville

4.91 out of 5 average rating, 339 reviews

Value! Sleeps 10 Pp+2 Ch Most week nights $99+Fee

Pet friendly Pocono Mountain home located moments away from all major attractions. Skiing, hiking, paintball, water-parks and golf are all within a 10 minute drive. The Towamensing Trails community has an abundance of amenities including a lake with a beach, a pool, boat rentals, fishing, and an arcade for kids. You'll love our open floor plan and decorations boasting a wood burning stove for cold nights and a large deck for warm days. Excellent for families, groups, and romantic getaways.

Superhost

Home in Lake Ariel

4.87 out of 5 average rating, 129 reviews

Lakeview Chalet - Pool & Lake/Beach - Kayaking

Perfect getaway with lake views. Large deck, BBQ & fire pit in a safe family-friendly community with lots of amenities! Steps away from the pool - close to beach/lake area. HOME HAS AIR CONDITIONING and Fans! Community has 2 Lakes and pools with beach/BBQ area. All you need for a fun-filled and relaxing getaway. Basketball & Tennis Courts, Kayak rentals and more... Winter -The Hideout offers snow tubing and skiing. Guests are responsible for lift tickets, rentals and any other fees for use.

Superhost

Cottage in Shohola

4.83 out of 5 average rating, 153 reviews

Modern Forest Retreat on a Tranquil HilltopSAUNA

Tucked away on the hilltop, overlooking tall pine trees and beautiful forest - Shohola Cottage welcomes you. And you will want to stay. For a while :-) Enjoy exceptional comfort of this house. Every detail of interior was created with thoughts of You, our guests, our friends and our family. To give you unforgettable experience. Exceptional Interior Design , Comfortable Couches, Inviting Dining Table ,Wrap around Terrace , Fireplace and Fire Pit. Lots of Sunlight and Air. Crispy Clean Air.

Superhost

A comfortable living area features two armchairs and a spacious sofa with decorative pillows. Natural light filters through large windows, illuminating the wooden floor. A rectangular coffee table is positioned in front of the seating, while a television is mounted on a nearby wall.

Home in Jim Thorpe

4.82 out of 5 average rating, 175 reviews

Center of Town,PET FRIENDLY, PARKING!LATE CHECKOUT

This charming 3-bed, 2.5-bath home blends 1850s character with modern updates! Just a 10-minute walk to Jim Thorpe’s famous shops & eateries. Spacious, fully stocked kitchen w/ island, 2 living areas, & large dining room. The driveway fits 4 cars—rare for being in town in Jim Thorpe! Pet-friendly with a fenced yard & dog door ( Pet fee is $50 per dog). Walk to pubs, restaurants, opera house, bike rentals, & hiking. The house is located 25 min from the closest ski resorts.

Superhost

Cottage in Tobyhanna

4.92 out of 5 average rating, 165 reviews

Lakefront-w/ PRIVATE HOT TUB-near all Attractions!

Welcome to our Pocono Mountain Lakefront home. We are located in the heart of the Poconos, in a full amenity, secure gated community. Our cozy-waterfront home has everything you need for a relaxing stay in the Pocono Mountains. Our modern lake house is the perfect retreat for families and friends, offering 4 seasons of fun where you’ll create endless memories. We want you to feel relaxed while you are here, so we have made every effort to ensure your comfort during your stay!

Guest favorite

A fenced yard with well-maintained grass is surrounded by tall trees, providing a natural, wooded backdrop. The fencing offers a secure area, with pathways visible in the distance leading through the landscape.

Chalet in Stroudsburg

4.96 out of 5 average rating, 423 reviews

Dog-Friendly Chalet in the Heart of the Poconos

This comfortable home with a fully fenced yard is located in the heart of the Pocono Mountains. It is minutes from Camelback Mountain, The Crossings Premium Outlets, the Pocono Raceway, indoor and outdoor water parks, the Appalachian Trail, and some of Pennsylvania's best fishing and hunting. The property features a 1/3 acre fully fenced yard with deck access including a smaller fenced area for letting dogs out in a more contained space than the larger fenced yard.

Superhost

A cozy reading nook is featured, with a leather armchair adorned with a soft white fur throw. A vintage-style lamp stands beside the chair, illuminating the space. A colorful area rug lies underneath, adding warmth to the neutral-toned room.

Cottage in Kerhonkson

4.9 out of 5 average rating, 183 reviews

*spring-ready* Pet-friendly private cabin!

Welcome to the Cherrytown Cottage. This cozy mid-century modern bungalow in the woods is the perfect home for a solo traveler, a couple friends, a couple, or a small family looking for a comfortable stay that’s conveniently located to some of the region's best hikes AND some of the most popular restaurants, orchards, and breweries in the area! (Or simply stay cozied up at home and play board games by the fireplace!)

Guest favorite

A wooden deck is showcased, featuring two suspended chairs and a small table. The space is surrounded by trees, providing a sense of privacy and connection to nature. The warm wooden tones of the deck complement the tranquil outdoor setting.

Cabin in Hawley

4.93 out of 5 average rating, 162 reviews

the clubhouse, by camp caitlin

The perfect place for to wake up in the trees or spend a weekend with friends! Relax in tranquility and scenic beauty from the porch, or the hot tub! Surrounded by woods overlooking kleinhans pond, minutes from numerous hiking trails and waterfalls in promised land state park and several charming small towns. Enjoy a dip in one of the nearby lakes or toasty fire on a cold night inside by the wood stove.