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RV Rental Palmyra

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All towables


Trailers for all types of towing vehicles, including SUVs and pickups.

Folding Trailer

Trailers you can tow with passenger vehicles or SUVs. A great way to transform average cars into adventure cars.


Larger trailers that attach to towing vehicles with a gooseneck extension in the truck bed.

Toy Hauler

Living quarters in the front with dedicated space for hauling motorcycles or other “toys” in the back.

Utility Trailer

All other types of towable trailers.

All drivables

Class C

Popular with small families and first-time RV drivers who want a little more room than a van. Comparable to driving a truck.

Camper Van

The smallest and nimblest of fully enclosed RVs. Drives like a van. Loves posing for Instagram.

Class B

A formal-sounding name for camper van, but just as photogenic.

Class A

Drivers should be comfortable driving bus-sized vehicles and dealing with parking limitations. Great for delivery.

Truck Camper

If you can drive a truck, you can drive a truck camper. Makes roughing it significantly less rough.


All other types of drivable vehicles.


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Discover Palmyra

Originally inhabited by the Lenape and Susquehannock tribes, Palmyra, Pennsylvania was settled by Scotch-Irish and German Palatinate migrants in the early 18th century. A post office was established in 1804, with the name of Palmyra (after the Roman outpost in Syria) becoming official by 1810.

Palmyra developed following the completion of the Union Canal in 1827 before the Age of Steam arrived with the Lebanon Valley Railroad in 1857. But it was in the post-Civil War years that it really flourished with a grain warehouse, a slaughterhouse, and a lumber mill bringing industry to the town.

Today, Palmyra is a charismatic place to rent an RV and base yourself while exploring the sights of Lebanon County. It’s within easy access of scenic reserves and the military history of Fort Indiantown Gap, as well as the family-friendly attractions of Hersheypark.

The Great Outdoors

Pick up your campervan rental in Palmyra and drive into Lebanon to spend an afternoon on the shores of Stoever’s Dam. Aside from the 23-acre lake that can be explored by boat, there are also interpretive trails and softball fields where you can get some exercise. Stop in at the historic Nature Barn to learn about the native flora and fauna of the region, then relax over lunch at one of the park’s picnic tables.

If you’re a keen angler, head north to the Memorial Lake State Park, which is well stocked with northern pike, yellow perch, and a variety of bass. It’s surrounded by the military reservation at Fort Indiantown Gap and was established in 1945 to remember the Pennsylvania National Guard soldiers who served in the World Wars. If you’re not into fishing, you can explore one of the surrounding trails or visit during the winter months when ice skating and cross-country skiing are on offer.

Continue north, and you’ll arrive at the Swatara State Park, which nestles between the picturesque Second and Blue Mountains. You can follow part of the Appalachian Trail that extends through the rolling fields and woodlands at the southern end of the park or rent a canoe to slowly paddle down the Swatara Creek. The park is also home to the Swatara Rail Trail that extends 10 miles along the western banks of the Swatara Creek, passing remnants of the Union Canal and the Lebanon–Tremont Branch of the Reading Railroad.

RV Parks

Book a travel trailer rental in Palmyra and head west to the Hershey RV & Camping Resort, a family-friendly RV destination on 200 acres of farmland. Recreational facilities include a swimming pool, mini-golf course, and a playground, not to mention a hot tub where adults can relax at the end of the day.

Another nearby option is the Jonestown / Hershey NE KOA Journey, which could be a good option if you’re traveling with a big rig. They offer a range of level pull-through and full hookup sites overlooking the Swatara Creek and with direct access to the hiking and biking trails of the adjacent Swatara State Park.

Or, head to Manheim and the PA Dutch Country RV Resort, which offers a good selection of three-point hookups and an on-site store where you can grab any basic supplies. This pet-friendly RV park also has a swimming pool where you can cool off during the summer months and a children’s playground, as well as a mini-golf course.

Exploring the City

Park your RV rental near Palmyra and head out to explore on foot, visiting the historic factory of the Landis Shoe Company Building. Built in 1905, the imposing brick building is designed over three stories and was added to the National Register of Historic Places in 1980. It’s just a short stroll from the whitewashed Palmyra United Christian Church and the main street of Palmyra, which is lined with retail stores and restaurants.

Traveling with kids? Spend a day enjoying the rides, entertainment, and attractions of Hersheypark, which is just 15 minutes’ drive southwest of Palmyra. It’s home to a range of thrilling roller coasters and kid-friendly rides, as well as the Zoo America where you can get up close to a variety of native species. If you’ve got chocolate lovers in the family, don’t miss a visit to Hershey’s Chocolate World to embark on its chocolate tour and create your very own candy bar.

History buffs should spend a day wandering the streets of Lebanon, which is home to numerous buildings that have been listed on the National Register of Historic Places. Visit the Second Empire-style Josiah Funck Mansion and the 18th-century Chestnut Street Log House, then admire the eclectic Victorian architecture of the Cornwall & Lebanon Railroad Station. Or, drive north to Fort Indiantown Gap to visit the Pennsylvania National Guard Military Museum where artifacts and weapons dating from the Civil War to the Gulf War are on display.

Palmyra is home to a couple of supermarkets where you can stock up on groceries and numerous fast-food restaurants and eateries for dining out. There are also gas stations if you want to fill up your camper rental in Palmyra.

Whether you’re visiting Lebanon County for its historic architecture or amusement parks, book an RV in Palmyra and start your next adventure.

Popular nearby hiking trails and campgrounds

  • Hiking TrailLocation
  • Hershey School Trail, PAHershey, PA
  • Jonathan Eshenour Memorial Trail , PAHummelstown, PA
  • Governor Dick Observation Tower Loop, PAState Game Lands Number 145, PA
  • Governor Dick Hill Loop Trail, PAState Game Lands Number 145, PA
  • Mt Gretna Trailhead: Lebanon Valley Rail Trail, PAState Game Lands Number 145, PA
  • Lebanon Valley Rail Trail, PAState Game Lands Number 145, PA
  • Lebanon Rails Trail: Mount Gretna Section, PALebanon, PA
  • Lebanon Valley Rail Trail: Cornwall To Colebrook, PALebanon, PA
  • Stoevers Main Trail , PALebanon, PA
  • Cornwall Quarry, PACornwall, PA

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RV Parks, Campgrounds, and State Parks near Palmyra