Road Trip with RVshare Riverside to Waco

If you think that traveling from near the coast of California to deep in the heart of Texas sounds like fun, then you might fancy yourself a road trip from Riverside to Waco. On your journey, you’ll have the chance to explore great state and national parks featuring deserts, lakes, caves, dunes, and more. You’ll also pass through some of the Southwest’s top cities and travel near some excellent points of interest. Building a fabulous road trip itinerary from Riverside to Waco is a piece of cake, thanks to the many pleasures that can be found on and near Interstate 10. 

Road Trip Planner: Stops Along Your Route

Palm Springs, California  

While exploring the beautiful oasis of Palm Springs, be sure to check out the Palm Springs Aerial Tramway and the Palm Springs Air Museum. Plenty of great RV campgrounds are in the area.

Phoenix, Arizona  

This awesome desert city is full of great places to visit like Desert Botanical Garden and Papago Park. There are numerous quality dump stations and campgrounds close by.

Tucson, Arizona  

Your route goes right through Tucson, so why not explore this town that’s home to places like the Arizona-Sonora Desert Museum and the Pima Air and Space Museum? You won’t have to look hard to find excellent dump stations and campgrounds close by.

Las Cruces, New Mexico

In Las Cruces, you can visit places like New Mexico State University and Old Mesilla Village. A bevy of dump stations and campgrounds are nearby for your convenience.

El Paso, Texas  

In this border town, you should stop by Scenic Drive – Overlook and the El Paso Zoo. Multiple campgrounds are available for your RV.

National Parks

Joshua Tree National Park  

Joshua Tree National Park takes its name from the distinctive trees that grow within its 1,200 miles of desert terrain. Mountains, tectonic plates, desert vistas, and more give this park a unique appearance. In addition to Joshua Trees, you’ll be able to see traditional yuccas, cacti, and more desert flora in this park that’s only 10 minutes from Chiriaco Summit, California. Mountain biking and climbing are popular here, as are backcountry camping, hiking, bird watching, and stargazing. 

Saguaro National Park  

Another park that takes its name from the distinctive flora within its boundaries is Saguaro National Park. It’s less than 20 minutes from downtown Tucson, but there are still plenty of places to get lost in the wilderness in this quintessential Old West national park. Multiple park trails take you past cacti, rock formations, mountains, and more. Some overlooks even give you a chance to see Tucson spread out before you, showing you a glimpse of urban life from the desert. 

White Sands National Park  

Roughly 50 minutes northeast of Las Cruces, New Mexico, is gorgeous White Sands National Park. The stunning gypsum sand dunes are the main attraction here, but there are also plenty of hardy plants and animals that live in this white wonderland. This park is known for the animals that used to live there in bygone ages; maybe you’ll spot a mammoth or dire wolf footprint or two. Before you go, don’t forget to go sledding down these fabulous white dunes. 

Guadalupe Mountains National Park  

Guadalupe Mountains National Park is about an hour north of Van Horn, Texas. At its heart is Guadalupe Peak, which is Texas’s highest point at 8,749 feet. A restored ranch, a ranching history museum, and an old stagecoach station also await you here. This rugged park has plenty of different trails of various levels of difficulty, so you won’t have to search too hard for an adventure at this newer national park. 

Carlsbad Caverns National Park  

Carlsbad Caverns National Park is only about half an hour up the road from Guadalupe Mountains National Park and an hour and a half from Van Horn, so you should definitely stop by on your road trip from Riverside to Waco. Nearly 120 limestone caves are in the park, so there’s no shortage of underground passages to explore. While the main cavern itself is the main attraction, there are still multiple trails on the surface that take you through part of the Chihuahuan Desert.

Nearby State Parks

Salton Sea State Recreation Area  

Before you visit Joshua Tree National Park, you should drive 30 minutes south of Indio, California, to explore Salton Sea State Recreation Area. The Salton Sea covers over 343 square miles, so you’ll have plenty of room to kayak, swim, fish, boat, and more. Bird-watchers love it here, thanks to the more than 400 bird species they can spot here. This park is one of the earth’s lowest points, so it’s a worthy addition to your Riverside to Waco RV road trip. 

Tubac Presidio State Historic Park  

If you travel 40 minutes south of Tucson, you’ll be able to explore fascinating Tubac Presidio State Historic Park. This park is home to Arizona’s oldest presidio, so you’ll be able to tour the remains of this Spanish fort on your road trip from Riverside to Waco. In addition to historic buildings, you’ll be able to walk around a museum, stroll through some impressive gardens, and go bird-watching. Once you’re through exploring, you can walk on the trail inside the park all the way to nearby Tumacácori National Historical Park. 

City of Rocks State Park  

Half an hour north of Deming, New Mexico, is City of Rocks State Park. As its name implies, there are plenty of impressive rock formations to see here. Volcanic ash formed these rocks eons ago, and there’s much to see in this square mile of the Chihuahuan Desert. Besides the rocks, the biggest draw is the Star Observatory, which gives visitors a great opportunity to explore the cosmos courtesy of the park’s lovely dark sky.

Franklin Mountains State Park  

Franklin Mountains State Park is only 10 minutes east of Canutillo, Texas, so you should definitely add it to your road trip itinerary from Riverside to Waco. It’s technically within the city limits of El Paso, so there’s no shortage of great places to explore once you’re done seeing all the sights in the 40 square miles of this park. A hundred miles of hiking and biking trails open up this desert park full of cacti, yuccas, mule deer, collared lizards, and more.

Colorado Bend State Park  

Before you reach the end of your Riverside to Waco RV road trip, you should travel 35 minutes southeast of San Saba, Texas, to Colorado Bend State Park. The Colorado River flows through some of America’s greatest parks, and this one has plenty of beauty within its 5,000 acres. There are, of course, plenty of great places to boat, fish, and swim at Colorado Bend. More than 400 caves are in the park; 35 miles of trails are also available.

Along the Way

Thousand Palms Oasis  

Thousand Palms Oasis is only 10 minutes from Thousand Palms, California, so you won’t have to drive far to reach it on your Riverview to Waco RV road trip. This gorgeous oasis is located in the Coachella Valley Preserve. You’ll be able to spend a couple of hours walking on the multiple trails that take you past some lovely desert flora and fauna.

South Mountain Park and Preserve  

South Mountain Park and Preserve is only 15 minutes from Downtown Phoenix, so it’s a convenient stop on your road trip from Riverview to Waco. The 16,000 acres of the park contains mountains from the Ma Ha Tauk, Gila, and Guadalupe ranges. Visitors love riding, biking, and hiking on 50 miles of trails in the park.

Old Tombstone Western Theme Park  

All you have to do to reach legendary Tombstone, Arizona, is to drive 30 minutes south of Benson. There are multiple great places to go in this historic Old West town, but one of the best is Old Tombstone Western Theme Park. Their gunfight show is one of the top-rated in town; they also have a cantina, a shooting gallery, a mini-golf course, a trolley tour, and even a place to pan for gold.

Chiricahua National Monument  

Chiricahua National Monument is roughly 35 minutes southeast of Willcox, Arizona. This park is dubbed the “Wonderland of Rocks” because of its vast collection of hoodoos and other interesting rock formations. You can hike here on 17 miles of trails, but you can also enjoy this beautiful park from the comfort of your camper, courtesy of their 8-mile scenic drive.

Chamizal National Memorial  

El Paso is a border town, so visiting the Chamizal National Memorial in order to learn more about this previously contested piece of ground is a logical part of your Riverview to Waco road trip. At this national memorial that's just a stone’s throw from the American--Mexican border, you can tour a museum, take a stroll through the art gallery, and walk along the lovely trails.

When you follow this road trip itinerary from Riverside to Waco, 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 Riverside or Waco.

Frequently Asked Questions

How do I plan an RV road trip from Riverside to Waco?

To plan an RV road trip from Riverside to Waco, 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 Riverside to Waco 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 Riverside to Waco. 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!