Yes, if you camp at Chihuahua scale
A Chihuahua does not experience a campsite the way a spaniel does. The grass is taller, the distances are longer, the nights are colder, and almost every other animal is bigger than him. None of that rules camping out, because Chihuahuas are devoted, portable, and often surprisingly game for adventure, but it does mean the trip has to be deliberately scaled: shorter walks, warmer kit, closer supervision, and a base he can retreat to.
Cold is the main event, in every season
With a tiny body, minimal fat, and often a very fine coat, a Chihuahua loses heat fast. Even summer nights at altitude or by the coast can leave him shivering, and shivering in this breed is not always nerves. Pack fitted jumpers for evenings, layer them in real cold, and give him an insulated, enclosed bed he can burrow into inside the tent rather than a flat mat on a cold groundsheet. If he is trembling, curled tight, and reluctant to move on a morning walk, he is cold, not stubborn: warm him up and shorten the plan.
Supervision is a safety system, not helicoptering
At a few pounds, a Chihuahua is prey-sized. Birds of prey and owls do hunt over open campsites, off-lead dogs can injure a tiny dog in one over-exuberant grab, and a small dog can slip through gaps in fencing or under a tent fly that no other breed would fit through. Keep him on a harness and lead or inside a secure exercise pen at all times outdoors, check the tent's zips and edges before bed, and carry him through crowded site areas, car parks, and anywhere feet and bikes make the ground dangerous.
Walking, carrying, and honest distances
Build the day around short walks on easy ground, and bring a comfortable carrier or sling for the stretches beyond his range so he can ride rather than be dragged along exhausted. Rocky trails, deep sand, and long grass are disproportionately hard work for very short legs. Paws this small also pick up thorns and grit quickly, so check them after every walk, and lift him over cattle grids, stiles, and stream crossings instead of letting him attempt gaps his body could fall through.
Feeding, water, and the small-dog margin
Tiny dogs have small reserves, so regular small meals and constant access to water matter more at camp than at home, where routine hides the gaps. Keep his familiar food in a sealed container, offer water at every stop rather than waiting for him to ask, and be alert after missed meals or a hot afternoon: a Chihuahua who becomes wobbly, weak, or unusually drowsy needs food, warmth, and prompt veterinary advice if he does not bounce back quickly.
Tent temperament and other campers
Many Chihuahuas are wary of strangers and vocal about it, and a campsite brings a procession of passers-by within feet of the tent. Set his bed away from the pitch boundary, give him a covered retreat so he can opt out of watching, and reward quiet behaviour rather than picking him up at every bark, which tends to confirm that the stranger was worth worrying about. A tired, warm Chihuahua who has had his walks is usually a settled one.
Scaled for warmth and watched closely, a Chihuahua makes a devoted little camper, and a KinsLe Pet Pass keeps his identity and your contact details easy to show if a site warden or fellow camper ever needs them.