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
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
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
Dutchmen RV Coleman 17B
2022 Travel Trailer

Dutchmen RV Coleman 17B

Sleeps 5 21.0ft
6.4 miles from Milwaukee, WI
(10)
$120 /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
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 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
CrossRoads RV Zinger ZR290KB
2019 Travel Trailer

CrossRoads RV Zinger ZR290KB

Sleeps 10 33.0ft
9.5 miles from Milwaukee, WI
(7)
$145 /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
Highland Ridge RV Open Range OT338BHS
2021 Travel Trailer

Highland Ridge RV Open Range OT338BHS

Sleeps 10 40.0ft
20.0 miles from Milwaukee, WI
(2)
$195 /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
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
Dutchmen RV Coleman 314BH
2013 Travel Trailer

Dutchmen RV Coleman 314BH

Sleeps 8 31.0ft
7.9 miles from Milwaukee, WI
(10)
$136 /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
Riverside RV Retro 169
2020 Travel Trailer

Riverside RV Retro 169

Sleeps 3 19.0ft
9.6 miles from Milwaukee, WI
(2)
$123 /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)
$133 /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
Thor Motor Coach Chateau Super C 35SK
2015 Class C Motor Home

Thor Motor Coach Chateau Super C 35SK

Sleeps 7 36.0ft
17.0 miles from Milwaukee, WI
(1)
$200 /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
NeXus RV Phantom 32P
2019 Class C Motor Home

NeXus RV Phantom 32P

Sleeps 4 33.0ft
15.1 miles from Milwaukee, WI
(3)
$275 /night

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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. 

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.

Road Trips Starting from Milwaukee, WI

Best National Parks Near Milwaukee, WI

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, WI

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, WI

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. 

RVshare’s Top Picks for Nearby RV Parks & 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.

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 Rentals Near Milwaukee, WI

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.