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This RV resort is a short drive from both Sedona and Prescott. They offer RV sites as well as cabin rentals (cabins are pet friendly but require a cleaning fee). Their dog park even has agility equipment to give your pup hours of fun.
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Verde Ranch RV Resort
1105 N Dreamcatcher Drive, Camp Verde, AZ 86322
There is no charge for pets in RV sites. However, pet friendly cabins charge $75 per stay.