Are there any good pet friendly campgrounds in Northern California?

I would like to plan a camping trip this summer, and would love to be able to bring our dog. In looking online, I see there are campgrounds that allow pets in the campsites, but not in the woods/on trails. Does anybody know of some campgrounds that do not have such restrictions? Ideally I would like something in Northern California, within a 3-4 hour drive from the Bay Area.