Road Trip with RVshare Denver to Minneapolis

Hikers will greatly appreciate a Denver to Minneapolis road trip because of all the fantastic lake, waterfall, mountain and prairie locations where trails are available. If you love outdoor recreational opportunities of all different types, there's plenty of variety available along the way, including zip lines, fishing and swimming. Since there are so many terrific spots to visit, like Rocky Mountain National Park, Windmill State Recreation Area and the Mall of America, you'll want to make this road trip in an RV.

Road Trip Planner: Stops Along Your Route

Lincoln, Nebraska  

There are many terrific things to do in Lincoln, including visiting the Sunken Gardens, Museum of American Speed and Pioneer Park Nature Center. You can find great Lincoln campgrounds, like Camp A Way, Pawnee State Recreation Area and Pine Grove RV Park. RV dump stations in Lincoln are available at Wagon Train Lake State Recreation Area, Blue Valley Campground and Eugene T. 

Omaha, Nebraska  

Omaha is a fantastic city with many attractions that you'll want to visit, including the Henry Doorly Zoo, The Durham Museum, and Joslyn Art Museum. Haworth Park, Louisville State Recreation Area, and West Omaha KOA are fantastic campgrounds in Omaha. Find RV dump stations in Omaha at Bob Hardy RV Park, Walnut Creek Lake Recreation Area, and Louisville State Recreation Area. 

Des Moines, Iowa  

While visiting the Iowa State Fair is always loads of fun, there is a variety of things to do in Des Moines throughout the year. You may want to explore Gray’s Lake and Pappajohn Sculpture parks and take in a ballgame at Principal Park. Staying in a Des Moines campground, like Griff’s Valley View RV Park & Campground, Sleepy Hollow RV Park & Campground, or Des Moines West KOA Holiday, makes it easy to explore all Iowa’s capital city has to offer. RV dump stations in Des Moines are available at Marion County Park, Pattee City Park, and Walnut Woods State Park. 

Ames, Iowa  

Home to the Iowa State Cyclones, Ames is a unique city to spend time in with great venues to visit. Consider exploring the ISU campus and taking in sporting events there. Outstanding Ames Campgrounds, like Whispering Oaks Campground, Ledges State Park, and Hickory Grove Breezy Bay, make the process even more appealing. RV dump stations in Ames are available at Water Pollution Control Facility, Hickory Grove Breezy Bay, and Twin Anchors Campground. 

National Parks

Rocky Mountain National Park  

Consider starting your Denver to Minneapolis road trip by going northeast for about 60 miles to visit Rocky Mountain National Park near Estes Park, Colorado. This park, which covers more than 265,000 acres, is a fascinating place to go hiking. There are many options that allow you to run or stroll alongside lakes while heading to waterfalls and summit peaks. One of the prettiest is the hike to Chasm Lake, which starts at the Long’s Peak Trailhead, runs through subalpine forests, through a tundra meadow, and along a deep gorge. You can go biking, fishing, and climbing and enjoy many other activities at this park.

Nearby State Parks

Windmill State Recreation Area  

During your Denver to Minneapolis RV road trip, you'll want to make time for several Nebraska state parks including Windmill State Recreation Area near Gibbon, Nebraska. See the collection of antique windmills at this location. The oldest and one of the most unique is from 1880, and it's used to pump water to passing steam locomotives. The two-mile hiking trail through the park is a great place to view the windmills from several different angles. This location is part of Nebraska’s chain of lakes, and the park actually has six unique lakes. Head to the swimming beach to enjoy your time in the water. This beach also offers a sand volleyball field. 

Eugene T. Mahoney State Park  

It's always a good time to drop by Eugene T. Mahoney State Park near Ashland, Nebraska, regardless of when you make your road trip from Denver to Minneapolis. The Go Apes Rope Course tests everyone’s skills with its treetop adventures. Go for a swim at the Family Aquatic Center featuring diving boards and a zero-entry wave pool. Rent clubs at the park to enjoy playing on the John R. Lauritzen Driving Range or play on the miniature or disc golf courses. Go on a fishing expedition after renting a boat at this park’s marina; you can borrow rods and reels for free. Your children will love completing art projects at the Arts and Crafts Center. Check the schedule to see if you can catch a theater performance in the Denman and Mary Mallory Kountze Memorial Theater. Horse trail rides are available from spring through fall. If it's rainy during your visit, there's an indoor playground at this state park. Many winter activities are also available, including an indoor ice rink, sledding, ice fishing, and cross-country skiing. 

Prairie Rose State Park  

Prairie Rose State Park near Harden is one of the prettiest in Iowa thanks to the nearby scenic hills. Start your visit in the northwest corner of this 422-acre park by following the interpretative trail to see this park’s unique natural features. Two boat ramps make it easy to launch your vessel on a 218-acre lake, and this park is a fantastic place to go bass fishing. Everyone will love playing on the swimming beach and taking a swim in the lake. In the winter, the park is a popular destination for snowmobiling and cross-country skiing. 

Ledges State Park  

The four miles of hiking trails running across the rocks at Ledges State Park near Madrid, Iowa, are a great place to see wildlife and plants. The paved Lost Lake Trail is relatively flat. The rock formations are also a fantastic place to go rappelling. Take off your shoes and splash in the low-water crossings.

Nerstrand Big Woods State Park  

While you might be anxious to finish your road trip from Denver to Minneapolis, be sure to save time for some Minnesota state parks as well. Nerstrand Big Woods State Park is a fantastic place to go for a hike through an old-growth forest. While hiking, watch for the Minnesota dwarf trout lilies along the path as this park is in the only region where they grow. This flower that seldom grows to be over 3 inches tall has a beautiful purple nodding flower when it blooms in the spring. This park is also a fantastic place to see trees in the autumn, and the waterfall makes for a stunning sight at this park. 

Along the Way

Red Rocks Park and Amphitheatre  

Top-name entertainers often bring their live shows to Red Rocks Park and Amphitheatre, located just 15 miles west of Denver. The outdoor venue features incredible natural acoustics. This park is also a fantastic place to go hiking, and you can join a twice-daily tour to learn more about its history. Stop and grab a bite at the grill and visit the interpretative center to learn more about this area's unique geology. 

Lee G. Simmons Conservation Park and Wildlife Safari  

Be sure to include a stop at the Lee G. Simmons Conservation Park and Wildlife Safari in Ashland, Nebraska, on your road trip itinerary from Denver to Minneapolis. Walk to the American Bison viewing platform to stand at eye level with the largest mammal in North America. View gray wolves and American black bears in Wolf Canyon before following the short trail to the eagle aviary. This park's drive-thru portion allows you to see elk and deer grazing in meadows or taking a long nap. Stroll through the Pelican Wetlands to see birds that were injured to the point that they can no longer fly but are provided safe haven here. Laugh at the antics of the prairie dogs. A favorite part of the park for many is the Hands-on Corral, where you can help take care of farm animals. 

Shrine of the Grotto of the Redemption  

While you'll have to drive a little to the west to get to West Bend, Iowa, it's worth seeing the Shrine of the Grotto of the Redemption, the largest manmade grotto in the world. It's also the most extensive collection of minerals, fossils, shells and petrified natural objects globally. Stop at the museum to see the collection of rocks and semiprecious stones gathered from around the world. 

Mall of America  

Bloomington, Minnesota’s Mall of America is the largest shopping and entertainment complex in the United States. This venue has room for 500 stores and 60 restaurants. You'll also want to play at its Nickelodeon Universe theme park, which covers more than 7 acres. Lastly, don't leave without visiting the SEA LIFE Aquarium and playing a round of miniature golf.

When you follow this road trip itinerary from Denver to Minneapolis, 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 Denver or Minneapolis.

Frequently Asked Questions

How do I plan an RV road trip from Denver to Minneapolis?

To plan an RV road trip from Denver to Minneapolis, 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 Denver to Minneapolis 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 Denver to Minneapolis. 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!