Good dogs on leash are never a problem. If you pick up after your dog and it is under control and Doesn't bark continually, no problem. I love walking my dog on the trails but take doggy bags with me, then dispose of them when I get back.
Yes, there are tent camping sites, dogs are allowed. Rates are on the state park site.
Tent camping -is- allowed. Fees are on the TX Parks and Wildlife web site. Certainly I've -seen- people bring dogs. Never brought mine: she'd have a hard time behaving. Also I've seen owls at Palmetto big enough to take a small dog as prey.
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