RV rental Palmyra, PA: Motorhome rentals, camper van rentals and more
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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.
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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.
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.
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.
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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
- CampgroundsLocation
- Hersheypark Camping Resort, PADauphin County, PA
- Hershey Road Campground, PADauphin County, PA
- Pinch Pond Family Campground, PALancaster County, PA
- Jonestown AOK Campground, PALebanon County, PA
- Hershey RV and Camping Resort, PALebanon County, PA
- Jonestown / Hershey NE KOA, PALebanon County, PA
- Elizabethtown / Hershey KOA, PALancaster County, PA
- Harrisburg East Campground, PADauphin County, PA
- PA Dutch Country RV Resort, PALebanon County, PA
- Shady Oaks Family Campground, PALebanon County, PA
- RV dealerships in Pennsylvania
Recent RV rental reviews in Palmyra
Tyler S.
March, 2026
Steve is excellent and covered everything needed to make our rental as smooth as possible. Will be happy to utilize his services in the future!
Dorothy A.
March, 2026
Renting this RV was the best experience! Jim was so great with communication! He went above and beyond to make sure we were comfortable and happy! The RV was beautiful, well maintained, and perfect for our family weekend! Jim was an amazing host! We will definitely rent from him again!
Christopher H.
March, 2026
Fantastic! Leroy was very helpful when setting up the trailer, and was available when ever I had a question
Frequently asked questions about renting an RV near Palmyra
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