RV Rentals Milwaukee, Wisconsin

1-27 of 900+ RV Rentals
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
(10)
$130 /night
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
(6)
$125 /night
Dutchmen RV Aspen Trail 17BH
2021 Travel Trailer

Dutchmen RV Aspen Trail 17BH

Sleeps 5 21.0ft
15.7 miles from Milwaukee, WI
(19)
$129 /night
Winnebago Outlook 31C
2007 Class C Motor Home

Winnebago Outlook 31C

Sleeps 6 31.0ft
9.3 miles from Milwaukee, WI
(8)
$200 /night
CrossRoads RV Zinger ZR290KB
2019 Travel Trailer

CrossRoads RV Zinger ZR290KB

Sleeps 10 33.0ft
9.5 miles from Milwaukee, WI
(3)
$149 /night
Winnebago Vita 24F
2020 Class C Motor Home

Winnebago Vita 24F

Sleeps 4 24.0ft
2.5 miles from Milwaukee, WI
(9)
$213 /night
Jayco Precept 34G
2020 Class A Motor Home

Jayco Precept 34G

Sleeps 7 36.0ft
8.6 miles from Milwaukee, WI
(7)
$309 /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
(14)
$304 /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
(11)
$130 /night
Dutchmen RV Coleman 17B
2022 Travel Trailer

Dutchmen RV Coleman 17B

Sleeps 5 21.0ft
6.4 miles from Milwaukee, WI
(5)
$100 /night
Dutchmen RV Dutchmen T1T
2008 Travel Trailer

Dutchmen RV Dutchmen T1T

Sleeps 2 16.0ft
15.6 miles from Milwaukee, WI
(5)
$89 /night
Jayco Jay Feather X213
2021 Travel Trailer

Jayco Jay Feather X213

Sleeps 6 24.0ft
22.9 miles from Milwaukee, WI
(15)
$129 /night
Coachmen RV Freedom Express Select 29SE
2019 Travel Trailer

Coachmen RV Freedom Express Select 29SE

Sleeps 8 29.0ft
19.1 miles from Milwaukee, WI
(2)
$129 /night
National Dolphin Ford 5355
2007 Class A Motor Home

National Dolphin Ford 5355

Sleeps 6 36.5ft
15.1 miles from Milwaukee, WI
(22)
$199 /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
(2)
$138 /night
Forest River Forester 3271SF
2021 Class C Motor Home

Forest River Forester 3271SF

Sleeps 8 32.0ft
13.0 miles from Milwaukee, WI
(7)
$260 /night
NeXus RV Phantom 32P
2019 Class C Motor Home

NeXus RV Phantom 32P

Sleeps 4 33.0ft
15.1 miles from Milwaukee, WI
(2)
$269 /night
KZ Sportsmen SE 261BHKSE
2021 Travel Trailer

KZ Sportsmen SE 261BHKSE

Sleeps 8 31.0ft
4.1 miles from Milwaukee, WI
(5)
$140 /night
Forest River RV Wildcat 327CK
2016 Fifth Wheel

Forest River RV Wildcat 327CK

Sleeps 6 37.0ft
7.5 miles from Milwaukee, WI
(3)
$225 /night
Starcraft AR-ONE 15RB
2014 Travel Trailer

Starcraft AR-ONE 15RB

Sleeps 5 17.0ft
4.9 miles from Milwaukee, WI
(21)
$89 /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
(2)
$260 /night
Jayco Jay Flight SLX 7 154BH
2021 Travel Trailer

Jayco Jay Flight SLX 7 154BH

Sleeps 4 18.0ft
9.7 miles from Milwaukee, WI
(1)
$129 /night
Jayco Greyhawk 31FS
2013 Class C Motor Home

Jayco Greyhawk 31FS

Sleeps 8 32.0ft
55.7 miles from Milwaukee, WI
(12)
$255 /night
Forest River RV Cherokee Grey Wolf 23DBH
2021 Travel Trailer

Forest River RV Cherokee Grey Wolf 23DBH

Sleeps 8 29.0ft
43.7 miles from Milwaukee, WI
(19)
$149 /night
CrossRoads RV Zinger Lite ZR270BH
2021 Travel Trailer

CrossRoads RV Zinger Lite ZR270BH

Sleeps 10 31.0ft
57.0 miles from Milwaukee, WI
(10)
$136 /night
Dutchmen RV Coleman 314BH
2013 Travel Trailer

Dutchmen RV Coleman 314BH

Sleeps 8 31.0ft
7.9 miles from Milwaukee, WI
(8)
$140 /night
Winnebago View Model 24D floor Plan
2021 Class C Motor Home

Winnebago View Model 24D floor Plan

Sleeps 6 25.0ft
13.1 miles from Milwaukee, WI
$525 /night

Popular RV Rentals Near Milwaukee, Wisconsin for Any Budget

You have several high-quality options if you want to rent a camper in Milwaukee, WI and the surrounding area. If you’re looking for a budget-friendly motorhome, then you might wish to rent a Class C camper, which costs from $200 to $595 a night and has a sleeping capacity of four to eight. If you want to travel in style, then you may be interested in renting a Class A motorhome, which sleeps about six to nine people and costs $199 to $499 per night. Should you prefer to haul your camper behind your vehicle, you’ll want to rent a travel trailer, which typically costs between $68 and $175 a night and sleeps three to nine.

RVshare’s Top Vacation Destinations Near Milwaukee, Wisconsin No Matter the Duration

Green Bay is about two hours north of Milwaukee, so you can easily visit the home of the Green Bay Packers while staying in town. When you’re not watching a game, you can explore Bay Beach Amusement Park, the Green Bay Botanical Garden, and the National Railroad Museum.

Chicago is just an hour and a half south of Milwaukee, so the Windy City will likely be on your itinerary. When you’re visiting this iconic Illinois city, you can check out Wrigley Field, the Art Institute of Chicago, and the Chicago Riverwalk. 

Indianapolis is about four and a half hours southeast of Milwaukee, but it contains plenty of awesome attractions to explore. When visiting Indiana’s capital, stop by places like the Indiana World War Memorial and the Indianapolis Motor Speedway.

Explore Milwaukee, Wisconsin in an RVshare RV Rental

Milwaukee takes its name from an Algonquian word that means “pleasant land,” so the fact that numerous different types of people have lived here over the centuries should come as no surprise. The city was not officially incorporated until 1846, but several robust settlements had already grown up in the area before that point. Today, this bustling metropolis on Lake Michigan is home to more than 577,000 people.

If you want to visit some museums and historical places in Milwaukee, then you should check out attractions like the Pabst Mansion, the Harley Davidson Museum, and the Milwaukee Public Museum. You can catch a Milwaukee Brewers game at American Family Field or a Milwaukee Bucks game at Fiserv Forum. Those in search of easy access to Lake Michigan should stop by Veterans Park and Lake Park. 

Discover Nearby Towns and Cities

Sheboygan – You can reach this Wisconsin city on Lake Michigan by traveling an hour north of Milwaukee on Interstate 43. Some fun attractions in Sheboygan are Bookworm Gardens and Kohler-Andrae State Park. 

  • 160+ Restaurants

  • 120+ Gas Stations 

  • 6 Rest Areas

  • 25+ Campgrounds

  • 1 Nearby National Forest

  • 6 Nearby State Parks

  • 6 Nearby RV Parks

  • 8 Nearby Dump Stations

Madison – Wisconsin’s capital is just an hour and 15 minutes west of Milwaukee via Interstate 94. The Henry Vilas Zoo, the Olbrich Botanical Gardens, and the Chazen Museum of Art are some excellent locations to visit here.

  • 240+ Restaurants

  • 200+ Gas Stations 

  • 12 Rest Areas

  • 35 Campgrounds

  • 15 Nearby State Parks

  • 17 Nearby RV Parks

  • 15 Nearby Dump Stations

Rockford – This Illinois city is roughly an hour and a half southwest of Milwaukee. Be sure to stop by the Anderson Japanese Gardens and Hurricane Harbor Rockford while you’re visiting.

  • 230+ Restaurants

  • 200+ Gas Stations 

  • 14 Rest Areas

  • 55+ Campgrounds

  • 13 Nearby State Parks

  • 16 Nearby RV Parks

  • 13 Nearby Dump Stations

Best National Parks Near Milwaukee, Wisconsin

If you drive about two and a half hours southeast of Milwaukee along the shores of Lake Michigan, then you’ll come to Indiana Sand Dunes National Park. Visitors enjoy exploring the park’s sizable sand dunes, but they also love taking advantage of the park’s 15 miles of Lake Michigan shoreline. 

You’ll have to drive over seven hours from Milwaukee to reach the 100 waterfalls of Cuyahoga Valley National Park, but you’ll likely find the beauty on display here to be worth a few extra hours of traveling. If you’re into kayaking, fishing, and canoeing, then you’ll love exploring the 100-mile stretch of the Cuyahoga River in the park. 

You can see Gateway Arch National Park in all its glory by traveling a little less than six hours from Milwaukee to St. Louis. This park on the Mississippi River contains the Gateway Arch itself, as well as some historic buildings.

Popular State Parks Near Milwaukee, Wisconsin

Harrington Beach State Park is about 40 minutes north of Milwaukee. In addition to featuring a lovely beach on Lake Michigan, it also contains a limestone quarry lake, a nature trail, a swamp, and some woodlands.

You don’t have to go to Lake Michigan to find awesome places to get out on the water; you can simply drive an hour southwest of Milwaukee to Bigfoot Beach State Park. This beautiful park on Lake Geneva has plenty of places to boat, swim, and fish; you can also hike on the 6.5 miles of trails and eat in the 40-acre picnic area. 

Another nice lake park is Lake Kegonsa State Park, which is about an hour and 20 minutes west of Milwaukee and close to Madison. Swimming, fishing, sailing, boating, and skiing are popular here. 

Must-See Monuments and Landmarks Near Milwaukee, Wisconsin

Milwaukee is home to a couple of great landmarks in Wisconsin. One of these is the Milwaukee Art Museum, which contains 25,000 pieces of art within its distinctive building. 

You can also visit the Miller Brewing Company, which offers tours that bring the company's more than 160 years of history in Milwaukee to life. Those who are 21 and older will be able to sample tasty beverages along the tour.

In Madison, you can explore the Wisconsin State Capital Building, which boasts a domed roof that’s nearly 285 feet high. You can take one of the daily free tours; if you visit during the summer, you can walk around the sizable farmer’s market that sets up shop on Capital Square. 

Upcoming Events Near Milwaukee, Wisconsin

  • Tour of America’s Dairyland – Milwaukee hosts this competitive road cycling race over 11 days in late June. The race takes place in 11 different Wisconsin communities, so it’s a great opportunity for racers and spectators to learn more about the area.

  • Summerfest – Milwaukee is sometimes known as “The City of Festivals,” so the fact that it hosts “The World’s Biggest Outdoor Music Festival” is hardly surprising. This event in late June and early July features live music, delicious local fare, fireworks, and more.

  • Wisconsin State Fair – In early August, you can attend the Wisconsin State Fair in West Allis, which is a suburb of Milwaukee. Thrill rides, parades, animal shows, live music, and more will all be present here.

Popular POI Activities Near Milwaukee, Wisconsin

  • Havenwoods State Forest – One excellent place to get into the great outdoors in Milwaukee is Havenswood State Forest. Multiple trails in the park are available for hiking, jogging, biking, and dog-walking; other fun activities here include picnicking, snowshoeing, and cross-country skiing. 

  • Mequon Nature Preserve – Right outside of Milwaukee is the Mequon National Preserve, which is a lovely place to go walking, biking, cross-country skiing, and snowshoeing. Many trails here are ADA accessible; you can also walk your dog here. 

  • Naga-Waukee Park – This park 25 minutes west of Milwaukee in Hartland is sandwiched between Nagawicka Lake and Pewaukee Lake. Two boardwalks, two lake access points, and an 18-hole golf course can be found in this park. 

RVshare’s Top Picks for Nearby RV Parks and Campgrounds

If you want to stay at an RV campground that’s conveniently close to multiple Milwaukee locations, then you should consider the Wisconsin State Fair RV Park. This campground is near attractions like the Milwaukee County Zoo and American Family Field. If you’d prefer to camp south of town, you can drive 20 minutes south of Milwaukee to Jellystone Park Caledonia. This lovely resort contains two pools, multiple shops, a mini-golf course, and more. Another camping option is Cliffside County Campground, which is about half an hour south of Milwaukee on Lake Michigan. Spacious camping sites, back-in spots, showers, a playground, and more are available here.

Best RV Dump Stations Near Milwaukee, Wisconsin

You won’t have to look too hard to find affordable RV dump stations in the Milwaukee area. If you want to dump your tanks for free, then you can do so at the City of Waukesha Clean Water Plant. If you choose to camp at the Wisconsin State Fair RV Campground, then you’ll be able to use their dump station for free; otherwise, you’ll need to give them $10. Yogi Bear Jellystone Camp in Caledonia also gives registered guests the ability to use the park’s dump station for free while charging a fee to others. Another park that allows campers to dump for free is Cliffside Park; this park only charges $6 per dump station use to visitors. 

Popular RV Storage Facilities Near Milwaukee, Wisconsin

One reliable source of high-quality RV storage is I-94 Self Storage, which is 25 minutes west of Milwaukee in nearby Waukesha; this facility provides outdoor RV storage and 24/7 camper access. About 35 minutes south of Milwaukee in Racine is Melvin Avenue Storage, which isn’t too far from Cliffside Park. This storage facility offers multiple indoor and outdoor storage options to customers. You might also want to keep your camper at Kenosha Storage, which is about 40 minutes south of Milwaukee and also provides both indoor and outdoor storage.

RV Rentals Near Milwaukee, WI

National Parks Near Milwaukee, WI

State Parks Near Milwaukee, WI

National Forests Near Milwaukee, WI

National Sites and Monuments Near Milwaukee, WI

RV Parks and Campgrounds Near Milwaukee, WI

Road Trips Starting from Milwaukee, WI

RV Dump Stations Near Milwaukee, WI
Situated on the western shore of Lake Michigan, Milwaukee has a variety of attractions, such as its famous breweries with attendant tours. Other attractions include the Harley-Davidson Museum and the Milwaukee Public Museum; luckily, there are multiple Wisconsin RV dump stations within easy distances of these attractions.
RV Storage Near Milwaukee, WI
Kenosha sits on the shore of Lake Michigan, just north of the Wisconsin-Illinois border. Both Chicago and Milwaukee are close by, and many of the 10 best RV trips in Wisconsin are within a few hours’ drive. This area experiences cold, windy winters, so many local RV owners move their rigs to an RV storage facility in Kenosha, Wisconsin, after the camping season ends. Whether you need indoor winter storage or an outdoor parking spot to free up space at home year-round, these six facilities have options to suit you. They’re listed in no specific order, so be sure to find out about the unique features each business has to offer.
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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.