RV Rentals in Waukesha, Wisconsin

RV Rentals in Waukesha, Wisconsin

Find RV rentals near Waukesha, Wisconsin for road trips, weekend getaways, vacations, and special events.

Summer dates and long weekends fill fast. Book early for the best selection.

Why rent an RV in Waukesha?

  • Camp near Voyageurs National Park and enjoy ranger talks, sightseeing loops, and quiet nights under stars.
  • Travel to remote areas with onboard water and power capabilities when appropriate.
  • RV basecamp near Devil's Lake State Park for scenic drives, easy hikes, and stargazing nights.
  • Take spontaneous weekend trips without maintaining an RV all year just-in-case.
  • Pay for travel when you use it, without the high upfront purchase cost.

Go RV Rentalsâ„¢ offers one of the largest selections of RV rentals in Wisconsin since 2014. Compare multiple RV types, review real listings, user reviews, and book the right rig for your itinerary. Every booking includes insurance and roadside assistance for peace of mind. Delivery and pet-friendly options are available.

Class A Motorhome, Class B / Campervan, Class C Motorhome for rent
near Waukesha, WI, USA

New Berlin, WI 5.0 (11)

2023 Ultimate Toys Ultimate Cruiser

2023 Class B | 20 ft | Sleeps 2 | Seats 8

Instant Book $400 /night

Milwaukee, WI 5.0 (16)

The ULTIMATE Van based Rig with Pop

2025 Class B | 24 ft | Sleeps 5 | Seats 4

$399 /night

Brookfield, WI 5.0 (12)

"Vandalorian" 2024 Sprinter, Custo

2024 Camper van | 23 ft | Sleeps 5 | Seats 5

$425 /night

West Allis, WI 4.9 (28)

Modern 2023 Coachmen Freelander w/B

2023 Class C | 32 ft | Sleeps 10 | Seats 9

$265 /night

Menomonee Falls, WI 5.0 (9)

2018 Thor Motor Coach Four Winds

2018 Class C | 32 ft | Sleeps 6 | Seats 6

$305 /night

Hartland, WI 5.0 (6)

2019 Thor Chateau 31e - Sleeps up t

2019 Class C | 32 ft | Sleeps 8 | Seats 7

$279 /night

Naperville, IL 5.0 (30)

2021 Midwest - Ultimate Toys - Ulti

2021 Class B | 24 ft | Sleeps 10 | Seats 10

$550 /night

Grayslake, IL 5.0 (35)

Winnebago with 2 queen beds!

2022 Class B | 21 ft | Sleeps 4 | Seats 4

$295 /night

Antioch, IL 4.9 (18)

2022 Easy to Drive…Pet Friendlyâ€

2022 Class C | 24 ft | Sleeps 6 | Seats 6

$222 /night

Trevor, WI 5.0 (32)

!!Like New - Fully Stocked - Pet Fr

2022 Class C | 24 ft | Sleeps 6 | Seats 6

Instant Book $235 /night

Gurnee, IL 5.0 (21)

NEW! 2022 Thor Sequence 20J Luxury

2022 Camper van | 21 ft | Sleeps 4 | Seats 6

$299 /night

BURLINGTON, WI 4.7 (10)

Easy to Drive-2025 Coachmen Freelan

2025 Class C | 24 ft | Sleeps 6 | Seats 5

$270 /night

Slinger, WI 5.0 (8)

Camp in style; Class A Moter Coach

2018 Class A | 30 ft | Sleeps 6 | Seats 6

$235 /night

Brookfield, WI 5.0 (12)

2020 Thor Freedom Elite - Grace

2020 Class C | 24 ft | Sleeps 6 | Seats 4

$262 /night

Elgin, IL 5.0 (26)

Entegra Luxury Coach Esteem 31F, Wi

2021 Class C | 32.5 ft | Sleeps 8 | Seats 8

$335 /night

Paddock Lake, WI 4.9 (16)

WI 2018 Jayco Greyhawk

2018 Class C | 32 ft | Sleeps 8 | Seats 8

$260 /night

Antioch, IL 5.0 (14)

2021 Easy to Drive…Pet Friendlyâ€

2021 Class C | 30 ft | Sleeps 8 | Seats 8

$222 /night

Kenosha, WI 5.0 (8)

2017 Thor Chateau 32ft- Sleeps up t

2017 Class C | 32 ft | Sleeps 10 | Seats 8

Instant Book $225 /night

Pewaukee, WI 4.5 (13)

2018 Thor Motor Coach A.C.E

2018 Class A | 31 ft | Sleeps 10 | Seats 6

$275 /night

Milwaukee, WI 4.9 (14)

Winnebago Vita 24F Mercedes Turbo D

2020 Class C | 24 ft | Sleeps 4 | Seats 4

Instant Book $298 /night

Madison, WI 5.0 (16)

Breeze - Luxury Dodge ProMaster fro

2021 Camper van | 20 ft | Sleeps 3 | Seats 2

$275 /night

Lincolnshire, IL 5.0 (16)

*NEW* Adventure Van that has it ALL

2021 Camper van | 20 ft | Sleeps 3 | Seats 4

$250 /night

Milwaukee, WI 4.9 (15)

Winnebago Vita 24F Mercedes Turbo D

2020 Class C | 24 ft | Sleeps 4 | Seats 4

Instant Book $298 /night

genoa city, WI 5.0 (6)

Super C Diesel 4x4

2025 Class C | 35 ft | Sleeps 10 | Seats 8

$625 /night

Types of RV Rentals in Waukesha & What They Cost

Class A Motorhome

Class A motorhome RV rental parked outdoors
$250 - $438 per night
Luxury motorhome with space and comfort, often with high-end finishes and slide-outs. Great for Waukesha when you want to go in style.

Class B Campervan

Class B campervan RV rental in the mountains
$182 - $319 per night
Compact campervan that is easy to drive and simple to fit in regular spots. A popular Waukesha pick for couples and quick trips.

Class C Motorhome

Class C motorhome RV rental on a mountain road
$171 - $300 per night
Mid-size motorhome with a distinctive cab-over bunk and full amenities. A practical Waukesha option for families who want value and convenience.

Travel Trailer

Travel trailer RV rental at a campsite
$91 - $159 per night
Bumper-pull towable that comes in the widest range of sizes and floor plans. Many Waukesha renters like the flexibility and lower entry cost.

Fifth-Wheel Trailer

Fifth wheel RV rental parked outdoors
$134 - $235 per night
Large towable that uses a truck-bed hitch and adds a loft plus multi-level living. Ideal when you want separate sleeping areas and a home base.

Pop-Up Camper

Pop-up camper RV rental parked outdoors
$72 - $126 per night
Ultra-light folding trailer that expands into multiple beds once set up. A budget-friendly way to camp with the basics.

Toy Hauler Trailer

Toy hauler RV rental with motorcycles loaded
$115 - $201 per night
Towable with a rear garage for gear that can convert into lounge or sleeping space. Great when you need storage plus flexible room.

Figures above don’t include possible add-ons such as sales tax, insurance, cleaning, delivery, or extra mileage. Not all of these charges are applicable for every rental, but they could total up to +50% of the daily rate. Get a free quote to see the bottom line.

Need help choosing an RV type?
  • Planning a road trip and torn between a campervan and a motorhome? Check out Class B vs Class C Road Trip Showdown to see which RV fits your travel style, budget, and comfort needs.
  • Trying to decide between big-rig luxury and a family-friendly motorhome? Read Class A vs Class C for a clear breakdown of size, features, and who each rig is best for.
  • Not sure whether to drive a motorhome or tow your setup? Use Motorhome vs Travel Trailer to compare cost, convenience, and day-to-day camping comfort.
  • Thinking about going lightweight and simple? Get the tips in Pop-Up Camper Rental Guide to see what to expect and how to pick the right setup.

How to Rent an RV in Waukesha

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Waukesha RV Rental Frequently Asked Questions

Yes, many hosts allow pets. You can filter searches by ‘Pet friendly’, and listings will indicate that pets are permitted, and if extra fees apply.
Popular RVs can book 2–3 months in advance during summer, and even earlier from some special events. Booking early gives you more options and better pricing.
Unfortunately, no as the insurance won’t cover it.
Yes, you can request to have any RV rental delivered. Just select ‘Delivery available’ in the search filters.
No. A standard driver’s license covers practically all RVs, including motorhomes and trailers.
A refundable deposit is held on your credit card. It’s returned after the RV is brought back in good condition. Any damage or violations may reduce the refund.
Cancellation policies vary by host, and they are either flexible, moderate, or strict. Always check the listing details before booking.
Yes. Many hosts accept international driver’s licenses, though some may request additional verification.

Popular RV Rental Locations in Wisconsin

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