RV Rentals Milwaukee, Wisconsin

1-20 of 800+ RV Rentals
Forest River RV Wildwood FSX 178BHSK
2021 Travel Trailer

Forest River RV Wildwood FSX 178BHSK

Sleeps 8 22.0ft
13.7 miles from Milwaukee, WI
(17)
$135 /night
Dutchmen RV Coleman 17B
2022 Travel Trailer

Dutchmen RV Coleman 17B

Sleeps 5 21.0ft
6.4 miles from Milwaukee, WI
(10)
$120 /night
Forest River RV Salem Cruise Lite 241QBXL
2019 Travel Trailer

Forest River RV Salem Cruise Lite 241QBXL

Sleeps 6 26.0ft
8.0 miles from Milwaukee, WI
(16)
$135 /night
Forest River RV Georgetown 3 Series 30X3
2017 Class A Motor Home

Forest River RV Georgetown 3 Series 30X3

Sleeps 7 32.0ft
11.2 miles from Milwaukee, WI
(5)
$300 /night
Winnebago Aspect 30J
2015 Class C Motor Home

Winnebago Aspect 30J

Sleeps 6 32.0ft
9.6 miles from Milwaukee, WI
(4)
$198 /night
Jayco Jay Flight 33RBTS
2022 Travel Trailer

Jayco Jay Flight 33RBTS

Sleeps 9 37.0ft
13.8 miles from Milwaukee, WI
(3)
$175 /night
Thor Motor Coach Daybreak 30FS
2019 Class C Motor Home

Thor Motor Coach Daybreak 30FS

Sleeps 8 32.0ft
15.8 miles from Milwaukee, WI
(18)
$304 /night
Forest River RV Wildwood 26DBUD
2022 Travel Trailer

Forest River RV Wildwood 26DBUD

Sleeps 10 33.0ft
11.0 miles from Milwaukee, WI
(3)
$130 /night
Thor Motor Coach Four Winds 31W
2023 Class C Motor Home

Thor Motor Coach Four Winds 31W

Sleeps 8 32.0ft
19.7 miles from Milwaukee, WI
(2)
$269 /night
CrossRoads RV Zinger ZR290KB
2019 Travel Trailer

CrossRoads RV Zinger ZR290KB

Sleeps 10 33.0ft
9.5 miles from Milwaukee, WI
(7)
$145 /night
Forest River RV Sunseeker Classic 2440DS Ford
2023 Class C Motor Home

Forest River RV Sunseeker Classic 2440DS Ford

Sleeps 6 27.0ft
10.2 miles from Milwaukee, WI
(4)
$259 /night
Riverside RV Retro 169
2020 Travel Trailer

Riverside RV Retro 169

Sleeps 3 19.0ft
9.6 miles from Milwaukee, WI
(2)
$123 /night
Venture RV Sonic Lite 169VBH
2018 Travel Trailer

Venture RV Sonic Lite 169VBH

Sleeps 4 21.0ft
13.1 miles from Milwaukee, WI
(3)
$119 /night
Dutchmen RV Coleman 314BH
2013 Travel Trailer

Dutchmen RV Coleman 314BH

Sleeps 8 31.0ft
7.9 miles from Milwaukee, WI
(10)
$136 /night
Jayco Precept 34G
2020 Class A Motor Home

Jayco Precept 34G

Sleeps 7 36.0ft
8.6 miles from Milwaukee, WI
(8)
$289 /night
Forest River RV Cherokee Wolf Pup 16BHS
2018 Travel Trailer

Forest River RV Cherokee Wolf Pup 16BHS

Sleeps 5 21.0ft
18.6 miles from Milwaukee, WI
(13)
$131 /night
Dutchmen Coleman Lantern LT 214BH
2022 Travel Trailer

Dutchmen Coleman Lantern LT 214BH

Sleeps 8 25.92ft
18.4 miles from Milwaukee, WI
New Listing New Listing
$131 /night
Gulf Stream RV Ameri-Lite Super Lite 199DD
2021 Travel Trailer

Gulf Stream RV Ameri-Lite Super Lite 199DD

Sleeps 5 20.0ft
7.9 miles from Milwaukee, WI
(3)
$140 /night
Winnebago Outlook 31C
2007 Class C Motor Home

Winnebago Outlook 31C

Sleeps 6 31.0ft
9.3 miles from Milwaukee, WI
(10)
$200 /night
Jayco Jay Feather Ultra Lite X17Z
2015 Pop-up Camper

Jayco Jay Feather Ultra Lite X17Z

Sleeps 7 18.0ft
15.9 miles from Milwaukee, WI
(3)
$105 /night

Top Motorhome RV Rentals

Top Camper Van RV Rentals

Top Travel Trailer RV Rentals

Pet Friendly RV Rentals in Milwaukee, WI

RV Rentals near Milwaukee, WI

Budget Friendly RV Rentals in Milwaukee, WI

Why Rent with RVshare?
Globe Icon
Wide-Ranging Inventory
From affordable pop-ups to luxury motorhomes
RV Icon
Largest RV Rental Marketplace
Thousands of 5 star reviews from happy customers
Lock Icon
Secure and Most Trusted
24/7 Emergency roadside assistance on every booking

Discover RV Rentals Milwaukee, Wisconsin in an RV!

Exploring RV Rentals Milwaukee, Wisconsin in an RV is a wonderful way to travel! You can spend your day seeing the sights, learning about the local history, and admiring the breathtaking scenery and know that you get to retreat to your own bed every evening. You can eat at delicious local restaurants...but if you need a break, you can also make yourself a nice home-cooked meal in the comfort of your motorhome. You also have the freedom of knowing you can stay longer if you find a spot you like, or pack up and head out if you feel the need to move on. It’s like having the comforts of home, but also being able to experience new adventures!

You don’t need to worry if you don’t have your own RV, either. In fact, even if you’re considering purchasing one, renting one through RVshare first and going on a trip is a good way to do a trial run. Renting with RVshare is a safe experience because even if you’re an RVing novice, they have 24-hour roadside assistance to help you with any questions or problems.

Now that you’ve decided to visit RV Rentals Milwaukee, Wisconsin, you just have to decide which kind of camper you want to take on your journey! Class A motorhomes are the large bus-type RVs you see on the road - perfect for larger groups or people who prefer amenities like bathrooms, showers, kitchens...some even come with laundry facilities or fireplaces! Class B campervans are great for couples or a very small family, and the fact that they’re more compact makes them easier to handle. Class C campers are a good compromise between the two - larger than a campervan and with some perks like bathrooms, but not as unwieldy to drive as a Class A. RVshare also has tow vehicles like 5th wheels and toy haul trailers if you like to bring dirt bikes, kayaks, or other fun gear on your trips!

While you’re browsing RVshare, also consider that most owners will offer you a break the longer you rent their vehicle. If you click on the camper you’re interested in and scroll down, it will show you weekly and monthly rental rates.

RVshare also lets you narrow your search by what’s important to you. Currently in RV Rentals Milwaukee, Wisconsin, we have 800 rentals giving you the options to search by location, size or type of camper, or even year of vehicle. You can also search for pet-friendly RVs. There are also options for one-way rentals if you’re planning to fly home from your destination, or round-trip rentals.

While you’re making your plans to explore RV Rentals Milwaukee, Wisconsin be sure to check out our recommendations on this page! From local or national parks in the area to historic sites and museums to the best place to grab lunch, we have lots of trip-planning advice to help you on your journey. Our Events & Entertainment section will help you see the sporting events, festivals, live music, and other events going on while you’re visiting. We also have guides to practical things like where to camp for the night, where you can find local dump stations, and where you might like to plan road trips that originate in RV Rentals Milwaukee, Wisconsin.

You’re sure to find plenty of suggestions for things to do and help for camping and caring for your RV while you’re in the area.

Explore Milwaukee, WI

The Milwaukee RiverWalk is located just one mile from the center of downtown and features a 20-block pedestrian promenade along the Milwaukee River. It is open year-round and is home to numerous shops, restaurants, and bars. If you are feeling adventurous, hop in a kayak and paddle along the river to take in the views from a different vantage point.

The Milwaukee Public Museum is another popular attraction within one mile of downtown Milwaukee, WI. The museum is a unique mix of art and science. It includes numerous exhibits and shows throughout the year, so make sure to check their calendar before planning your trip to see what is happening. There is a parking structure connected to the museum, but it won't be easy to park a larger RV in this location. Consider staying at the Wisconsin State Fair RV Park and taking public transportation.

The Harley Davidson Museum is in downtown Milwaukee, about one mile from the city's center. It pays homage to the company's rich history and motorcycles through various exhibits. You can sign up for a factory tour or stroll through one of two retail stores. There is also a restaurant on-site.

Road Trips Starting from Milwaukee, WI

Best National Parks Near Milwaukee, WI

Indiana Sand Dunes National Park is located 139 miles from Milwaukee on the southern tip of Lake Michigan. The park features over 50 miles of hiking trails that take you through sand dunes, woodlands, prairies, and wetlands. It is also a bird watcher's paradise as the park is an important feeding and resting area for migrating birds. Visitors can spot hawks, waterfowl, and wetland birds during their stay.

If you are willing to drive a further distance, Cuyahoga Valley National Park in northern Ohio offers many terrific outdoor adventures. The park is approximately 440 miles from Milwaukee and is home to 33,000 acres of land and several waterfalls. Over 125 miles of hiking trails within the park offer various difficulty levels. Some trails require you to cross streams on stepping stones or log bridges, while others are mostly flat and suitable for all visitors.

Another good national park to visit if you don't mind driving a long distance is the Gateway Arch National Park. This park is about 372 miles south of Milwaukee and is home to St. Louis' famous Gateway Arch. When visiting the park, you can take a guided tour of the arch or climb into a 19th-century replica steamboat and float down the Mississippi River. While there is no RV camping available at this national park, several campgrounds and RV parks are nearby.

Popular State Parks Near Milwaukee, WI

Harrington Beach State Park is only 38 miles away from downtown Milwaukee and sits on the beautiful shores of Lake Michigan. This 715-acre recreation area is open year-round and features various outdoor activities such as fishing, hiking, boating, kayaking, and biking. The park has seven miles of hiking trails and one mile of Lake Michigan shoreline. If you hike along the coastline, you will see the remains of a 700-foot pier that was used in the early 1900s for shipping limestone.

Located 57 miles southwest of Milwaukee, Big Foot Beach State Park is the perfect location for a weekend getaway. The state park sits on Lake Geneva and features a swimming beach, playground, fishing, and hiking. As the park is open year-round, snowshoeing and cross-country skiing are popular activities in the winter. Visitors will find 6.5 miles of hiking trails that take you through a forest and open meadow. Most of the trails are relatively short, with the longest being the Green Trail, which is 2.9 miles long.

Lake Kegonsa State Park is 78 miles west of downtown and located on the northeast shore of Lake Kegonsa. The 3,200-acre lake offers excellent fishing, boating, and kayaking opportunities, while the rest of the park is perfect for hiking and nature-watching. Visitors can rent a boat and try their hand at catching a walleye or one of the many panfish species that call the lake home. If you are looking for a more strenuous activity, try hiking one of the six trails within the park. The Prairie Trail is the longest at 1.3 miles, features beautiful prairie plants in the summer, and is the perfect spot for birdwatching.

Must-see Monuments and Landmarks Near Milwaukee, WI

The HWY 67 trailhead for the Ice Age National Scenic Trail is located 38 miles west of Milwaukee. This national site consists of over 1,000 miles of trail, allowing hikers to get an up-close view of the landscape formed by the last glacial period. Camping is allowed along certain spots of the Ice Age National Scenic Trail, but there is no RV camping. If you are looking to explore this national site in an RV, it is best to map out the route you want to take and stay at campgrounds along the way. This will allow you to get out and hike different parts of the trail and view Wisconsin's scenery.

Located 107 miles to the south of Milwaukee, Pullman National Monument provides a fascinating look at the first planned industrial community in the 19th century. The monument is located in a growing Chicago neighborhood and does not offer any camping. Parking a large RV is a challenge, but there are surrounding parks that may be able to accommodate a larger rig.

If you don't mind a longer road trip, the 437-mile drive to Sleeping Bear Dunes National Lakeshore will be well worth your time. This national lakeshore is located on the west side of Michigan and provides a different lake experience. Visitors are treated to bluffs as high as 450 feet above the lake and miles of sand dunes that you can climb. RV camping is readily available within the park, with the Platte River Campground being the best option for RVs of all sizes.

RVshare’s Top Picks for Nearby RV Parks & Campgrounds

The Wisconsin State Fair RV Park is the only RV park in Metro Milwaukee. It is located 6 miles west of downtown and is open year-round. The RV park offers several different types of sites for varying rates. A basic site with no utilities is $35 per night, and a full-service site with electric, water, and sewer hookups is $52 per night. The park includes Wi-Fi, laundry, and showers.

Country View Campground is located 29 miles outside of Milwaukee and features a swimming pool, hot showers, playground, petting zoo, and Saturday night hayrides. A campsite with water and electricity costs $42 per night, while a site with full hookups costs $47 per night. If you stay for a full week, you only pay for six nights, and the seventh night is free.

Camping at Timber Trail Campground is open from April 28th to October 15th, and nightly rates start at $44. Visitors will enjoy many amenities at this campground, including a heated swimming pool, dump station, game room, kayak rentals, coin-operated showers, and firewood.

RV Dump Stations Near Milwaukee, WI
<p>If you are traveling through the heart of Milwaukee, you will find the Wisconsin State Fair RV Park dump station about six miles to the west of downtown. The RV park is full of amenities, including the dump station, where you can fill up on water. There is no fee if you are a registered guest; otherwise, it will cost you $10.</p> <p>The <a href="https://rvshare.com/dumpstations/wisconsin/milwaukee">dump station</a> at Pike Lake State Park is located 36 miles from Milwaukee and is one of the better facilities in the area. A Wisconsin State Park System sticker is required to enter the park, and there is a $10 fee to empty your tanks. You can refresh your potable and non-potable water at this location.</p> <p>The Yogi Bear Jellystone Camp is just 17 miles from Milwaukee and features potable and rinse water. The station is open from mid-April through mid-October and is free to use for guests. </p>

RV Rentals Near Milwaukee, WI

RVshare has a wide range of vehicles that are perfect for your next outdoor adventure in Milwaukee, WI. Whether you want to travel along the Ice Age National Scenic Trail or spend a week exploring the Chequamegon-Nicolet National Forest, RVshare has a rig to suit your needs. An RV is amongst the best ways to explore the outdoors without giving up many of the conveniences you are used to at home.

A Class A RV is a terrific option if you are looking to take a road trip to Indianapolis or Franklin, Indiana. This style RV can sleep up to 10 guests and features amenities such as a full kitchen, a living area with a TV, and a main bedroom suite. However, because these rigs are longer and wider than other options, it is best to avoid taking them through side streets in an urban setting. A Class A RV is made for the open roads and long distances.

A smaller option is a Class B RV. They are similar to oversized vans and comfortably sleep two people, so they work well for couples. In addition, they are easier to maneuver through city streets, making visiting places like the Milwaukee RiverWalk or Harley Davidson Museum a breeze.

A Class C RV is a classic family RV and typically what first comes to mind when thinking about this type of vehicle. It sits on a truck chassis and is recommended for people who may feel uncomfortable driving a Class A rig. Even though they are less spacious than a Class A rig, Class C RVs offer many amenities you do not get when tent camping. A Class C RV can sleep up to eight people. They also usually have a kitchen area with a stove, a sink, and a microwave so that you can save money by preparing food. This type of RV is a great option if you want to visit a national park such as Indiana Sand Dunes National Park or spend some time tucked away in the solitude of Bigfoot Beach State Park.

Frequently Asked Questions About Renting an RV Near Milwaukee, WI

How much does it cost to rent an RV in Milwaukee, WI by trip duration?

When renting an RV in Milwaukee, you can expect to pay $250 a night for motorhomes and $120 a night for travel trailers.

What does RVshare Protection cover with my Milwaukee, WI RV rental?

RVshare's protection plan standard package covers up to $300,000 in comprehensive and collision coverage based on the value of the RV. It also includes free 24/7 roadside assistance, towing and tire service. For more information on RVshare insurance, click here.

What do I need to know before renting an RV in Milwaukee, WI?

Milwaukee has several freeways to help get around town in an RV. The city sits on the shore of Lake Michigan, and you can enjoy many activities on and near the water. Be sure to include time in your plans to see the Harley-Davidson Museum and the Milwaukee Art Museum while you're in town.

What are the RV rental requirements in Milwaukee, WI?

There is no special license needed to rent an RV, but it never hurts to check state websites if you are unsure about traveling there. and any regulations they may have.

What are some tips for first-time RV renters in Milwaukee, WI?

Renting an RV in Milwaukee, WI means lake views and endless, delicious cheese options. Make sure to check traffic before heading out in your RV in Milwaukee. The city is at its busiest in the summer, so be sure to make campground reservations if you'll be visiting then.

What are the minimum age requirements for renting an RV in Milwaukee, WI?

The minimum age requirement for renting an RV is 25.

What is included in my Milwaukee, WI RV rental?

You should find any amenities that are included with your rental in the listing details. But it never hurts to check in with the owner before you arrive at the RV or have it delivered to ensure you have everything that is needed to have a fun and enjoyable trip!

Are there pet friendly RVs for rent in Milwaukee, WI?

Looking for a pet friendly RV rental? Use the pet-friendly filter when searching on RVshare.com to find the perfect one for you!

Can I have my Milwaukee, WI RV rental delivered to a specified location?

Many owners on RVshare.com offer delivery, and will even set it up for you at the campsite. Choose the 'Delivery' filter to narrow down your search results to RVs that can be brought to your home or destination. Check the listing details for any information regarding extra fees for delivery, or ask the owner if you are unsure.

Are there one way rental options from Milwaukee, WI?

One way rentals can add flexibility to your trip, but there are typically costs associated with returning the RV back to the owner. Learn more about one way rental options at rvshare.com/one-way-rv-rentals.