Road Trip with RVshare Boston to Baltimore

Celebrate America’s history on a Boston to Baltimore road trip. There are wonderful historical parks, including Adams National Historical Park and Minute Man National Historical Park, to see along the way. You can go fishing and canoeing as the first settlers did at beautiful state parks. Reflect on one of the darkest days in America by visiting the National 9/11 Memorial and Museum. Travelers on this road trip can also celebrate America as a shining light to the world by stopping at the Statue of Liberty. 

Road Trip Planner: Stops Along Your Route

Hartford, Connecticut  

The Mark Twain House and Museum, Bushnell Park Carousel, and Connecticut Science Center are all popular spots in Hartford. Stay in a Hartford campground during your Boston to Baltimore RV road trip. White Pines Campsites, Gentile’s Campground, and Moosemeadow Camping Resort are outstanding scenic Hartford, Connecticut, campgrounds. The Meriden rest stop and Cabela’s offer RV dump stations in Hartford. 

New York City, New York  

Camp Gateway is a popular campground in New York City. You can visit a Civil War fort and missile sites and see historic airplanes at this campground. Other options include Liberty Harbor RV Park and Beaver Pond Campground. If you need to clean up the RV during your stay in the Big Apple, you can find RV dump stations in the area at Cleanout Express, Interstate Waste Services, and other New York locations. 

Philadelphia, Pennsylvania  

Philadelphia is the city to visit if you are interested in history. The Liberty Bell, Eastern State Penitentiary, and Philadelphia Museum of Art are some of the top spots to visit. RVers should keep in mind that many Philadelphia campgrounds are only open seasonally. Consider staying at the wooded Little Red Barn Campground or at the Quakerswood Campground near Dorney Park, where you will find amusement parks and waterparks. Philadelphia RV dump stations are available at Blue Rocks Family Campground and Indian Head Campground.

National Parks

America's national parks are considered one of the country's best ideas, and visiting the parks is a great way to learn more about the history and ecology of the area where you're traveling.

Blackstone River Valley National Historical Park  

Gain a better understanding of the Industrial Revolution by visiting Blackstone River Valley National Historical Park. This park is spread across three different locations. Start your visit by stopping in the historic district of Whitinsville, Massachusetts. See buildings that were built as part of a company town during the early 1800s. The best way to explore this area is on a 1.25-mile self-guided walk. Then, drive about eight miles northeast to Hopedale, Massachusetts. This community was founded in 1843 by the Practical Christians, who established a joint-stock Christian community at this site. Finally, head south 20 miles to Slatersville, Rhode Island, to see America’s first planned industrial village. While you can drive between the three sites, you can also bike between them on the Blackstone River Bikeway. It is also possible to paddle between the three sites via a kayak.

Adams National Historical Park  

Take the trolley tour at Adams National Historical Park. Get off the trolley to see the birthplaces of Presidents John Quincy Adams and John Adams. Complete the tour at the Old House at Peace Field, which workers constructed in 1731. This home contains furniture from the early 1700s. After seeing the home, wander through the gardens containing over 1,000 plants, including many heritage varieties. Then, visit the stone library containing over 1,200 books owned by the family. 

Minute Man National Historical Park  

Minute Man National Historical Park near Concord, Massachusetts, was where the American Revolution's first battle took place. Start your visit by seeing the Wayside Home; this is where Louisa May Alcott, Nathaniel Hawthorne, and Harriett Lothrop lived at various times. During your home tour, hear passages that they wrote about the American Revolution and the Underground Railroad. Then, attend The Road to Revolution multimedia presentation at the Minute Man Theater. Join the ranger-led tour to see where the Second Battle of Lexington occurred. Stop at North Bridge to see where the first British casualties occurred on April 17, 1775. Then, drive about five miles south to Hartwell Tavern in Lincoln, Massachusetts, to see the historic weapons program. Stroll down Battle Road to see how the terrain played a vital role in determining where American Revolutionary War battles took place.

Nearby State Parks

Harriman State Park  

Harriman State Park near Sloatsburg, New York, contains 31 lakes, part of the Hudson River, and over 200 miles of hiking trails. Swim at the two public beaches or head to Askoti Lake to find a fantastic place to go trout fishing. If you have access to a boat, then fish among the lily pads for bass. Many groups use the buildings at this park for summer camps and weekend retreats. 

Black Rock State Park  

Include a stop at Black Rock State Park near Watertown, Connecticut, on your road trip from Boston to Baltimore. This park is a designated trout park where the state takes steps to help novice and young anglers feel the thrill of trout fishing. The state regularly stocks the lakes and streams in the spring and fall. Hike to the top of Black Rock for amazing scenic views of the Western Highlands. The 25-acre lake is a great place to go swimming in the designated areas. 

Wompatuck State Park  

Take a canoe or kayak out on the Aaron River Reservoir at Wompatuck State Park. Catch bass, perch, and other panfish in the reservoir. Hike along 12 miles of trails that run through the old-growth forest as they are a great place to see over 100 buried bunkers that the government installed when Hingman Naval Ammunition Depot Annex was at this location. This park near Hingman, Massachusetts, covers over 3,500 acres. 

Benjamin Rush State Park  

Benjamin Rush State Park is in Philadelphia. This park offers a 400-foot takeoff strip for remote-control airplanes. There is a 3.5-mile multi-use trail for biking and hiking through the open meadows and under the shade trees. Many people come to this park to walk their dogs. In the winter, many come here to go cross-country skiing. There are also other state parks in Pennsylvania that you may want to explore during your Boston to Baltimore road trip.

Gunpowder Falls State Park  

Gunpowder Falls State Park near Kingsville, Maryland, is divided into six areas. The headquarters for this park is in a restored grist mill at Jerusalem Mill Historic Village. The Central Area surrounding the Jerusalem Mill Historic Village is a great place to go mountain biking, hiking, and horseback riding. Officials with the national Rails-to-Trails Conservancy recognized the 19.5-mile Torrey C. Brown Rail Trail running from Ashland, Maryland, to the Pennsylvania state line as one of the best in the nation. Head to the Hammerman beach to go swimming. There are other fantastic areas in this park to go hiking and biking for those who like to get out and explore. If this does not sound like the perfect spot for you, consider other Maryland state parks.

Along the Way

The Mark Twain House and Museum  

Mark Twain declared his Hartford, Connecticut, home the most beautiful home in America. Stop and tour this home that Mark Twain lived in from 1874 to 1891. Louis Comfort Tiffany designed the interior of the property. A visit here gives you the chance to see where Twain wrote "The Adventures of Tom Sawyer," "Huckleberry Finn," and "A Connecticut Yankee in King Arthur's Court." You may want to take the ghost tour in the evening as it includes the opportunity to see the servant’s wing and the basement, which are not part of the daytime tours. 

National September 11 Memorial and Museum  

The 11,000-square-foot museum at the National September 11 Memorial and Museum allows you to see artifacts and images and hear stories from September 11, 2001, and the 1993 World Trade Center bombing. During your visit, be sure to stop and see the wall containing the names of those who died during the two Trade Center attacks. Before leaving, visit the glade dedicated to the first responders and neighborhood citizens who have since died from the toxins released on that day. 

Statue of Liberty  

Get on the ferry and head to Ellis Island, which is home to the Statue of Liberty. Make a reservation ahead of time if you want to climb to the statue’s crown. Otherwise, choose the climb to the pedestal or use the elevator so that you can visit the Statue of Liberty Museum. While there are food stalls nearby, this is also an excellent place for a picnic.

When you follow this road trip itinerary from Boston to Baltimore, you will enjoy historic locations and beautiful scenery along the way. If you want to travel in comfort and style, consider an RV rental from RVshare. From large motorhomes to compact campervans, there is a rig that will meet your travel and budget needs. Once you hit the road, you are protected by our renter guarantee and 24/7 roadside assistance. Find the perfect vehicle for your travel needs in Boston or Baltimore.

Frequently Asked Questions

How do I plan an RV road trip from Boston to Baltimore?

To plan an RV road trip from Boston to Baltimore, start by mapping your route using Google Maps or a trip planner that supports RV navigation. Consider road types, fuel stops, campgrounds, and attractions along the way. Our RV rental specialists can help you choose the best vehicle and route based on your travel dates and preferences.

What type of RV should I rent for my trip?

The ideal RV depends on your travel style, group size, and destination. For couples, a camper van or Class B RV offers flexibility and easy driving. Families often prefer Class C motorhomes for more space and amenities. If you’re staying longer or need extra comfort, a Class A RV might be your best choice. Learn more about the different RV classes.

How much does it cost to rent an RV for a road trip?

RV rental prices vary based on vehicle size, rental duration, season, and mileage. On average, RV rentals range from $100–$300 per night, with discounts for weekly or monthly bookings. We also offer one-way rentals if you’re traveling from Boston to Baltimore without returning to the starting point.

Can I pick up my RV in one city and drop it off in another?

Yes! Many travelers love our one-way RV rental option. If the inventory is available for your route, you can pick up your RV in one location and drop it off in another, which is perfect for cross-country adventures or long-distance road trips.

What should I pack for an RV trip?

Pack essentials like bedding, toiletries, cooking supplies, and outdoor gear. Most of our RVs come equipped with kitchenware and basic amenities. Don’t forget to bring a first-aid kit, maps, and camping chairs for your outdoor setup. Keep this packing list handy to ensure you don’t leave anything behind!

Do I need a special license to drive an RV?

A standard driver’s license is all you need to rent and drive an RV. Keep in mind that you must be 25 to rent an RV.

Where can I park or stay overnight during my road trip?

You can stay at RV parks, national park campgrounds, or designated boondocking areas. Our team can recommend safe and scenic stops along your route from Boston to Baltimore. Be sure to reserve campgrounds in advance during peak travel seasons.

How do I handle fuel and hookups during my trip?

Most RVshare RVs are equipped for electric, water, and sewer hookups at most campgrounds. Keep track of your fuel stops and learn how to connect utilities before you hit the road. We provide a full orientation before departure to make setup easy.

Is insurance included in my RV rental?

Yes, basic insurance coverage is included with every rental. You can also purchase additional protection plans for peace of mind during your journey. We’ll explain all coverage options when you book your RV.

Can I travel with pets in my RV rental?

Absolutely! Many of our RVs are pet-friendly, so your furry friends can enjoy the adventure too. Use the filters to search for RVs that welcome pets on board.

What are the best road trip routes for RV travelers?

Popular RV routes include scenic coastal drives, national park loops, and cross-country highways. For beginners, you may want to try a long weekend trip where you don’t have to drive quite as far. Just remember to follow the 3-3-3 rule of RVing!