RV rental Penrose Point State Park, WA: Motorhome rentals, camper van rentals and more

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Discover Penrose Point State Park RV rentals for memorable road trips

Penrose Point State Park immerses you in the natural beauty of the Evergreen State. The 165-acre park is perched on the southern end of Puget Sound and combines lush forest scenery with postcard-perfect shorelines. Beaches are the main draw, with more than two miles of shoreline to discover. Peer into colorful tide pools, harvest local oysters, and enjoy a picnic on the grassy foreshore. The park was named after Dr. Stephen Penrose, a local academic and passionate lover of the outdoors. Today, Penrose Point welcomes visitors from across North America and prides itself on creating a family-friendly, nature-centric atmosphere.

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Getting Outdoors

With more than two miles of coastal shoreline to explore along Mayo Cove and Carr Inlet, Penrose Point State Park is a fantastic place to discover the Pacific Northwest. Strolling along the sandy beach of glassy waters of Mayo Cove, you can peer into tide pools filled with colorful sea stars, crabs, and anemones. Watch for bald eagles perched in the Douglas firs and seals basking on the rocks. On a clear day, you'll see snow-capped Mount Rainier looming in the distance.

Camping at Penrose Point State Park

Set under a canopy of firs, cedars, and maples, the Penrose Point State Park Campground offers more than 80 standard sites. All sites are shaded and surrounded by a lush landscape of ferns, trillium, and huckleberry. You'll enjoy private picnic tables and fire pits, making it easy to enjoy your meals outdoors. Purchase firewood from the campground host, and don't forget your s'mores ingredients. In the summer, kids love attending Junior Ranger Program events held in the campground amphitheater.

Exploring the Area

RV camping at Penrose Point State Park sees you perfectly placed for exploring the Pacific Northwest. A ten-minute drive across the peninsula, Joemma Beach State Park is set on picturesque Case Inlet. Like Penrose Point, it's an excellent destination for shellfish gathering. Across Carr Inlet, Kopachuck State Park is popular with hikers, picnickers, and birdwatchers. It's worth staying for the fiery sunsets with views over Puget Sound and the Olympic Mountains. Anglers make a beeline for Bay Lake, a popular trout fishing reservoir one mile from the park.

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Popular nearby hiking trails and campgrounds

  • Hiking TrailLocation
  • Penrose Point State Park Trail, WAPenrose Point State Park, WA
  • Harstine Island State Park Trail, WAShelton, WA
  • Soundview and Grandview Trails Loop, WATacoma, WA
  • Cushman Trail, WAGig Harbor, WA
  • Titlow Park Trail, WATacoma, WA
  • Beach Trail, WALacey, WA
  • Twin Cedars Trail, WALacey, WA
  • 4 Cedars Outler Loop Trail, WALacey, WA
  • Sandy Beach Trail, WALacey, WA
  • War Memorial Park to Tacoma Narrows Bridge, WATacoma, WA

Recent RV rental reviews in Penrose Point State Park

Austin S.

October, 2025

Had a great experience, Cynthia was very communicative on pickup/dropoff. The heater was not working but we were provided with a space heater that was more than adequate to heat the 18' trailer. I would rent from Cynthia and her spouse again.
Nash Trailer - "A Northwest Beauty"
Nash Trailer - "A Northwest Beauty"
Michael L.

October, 2025

Jay was an amazing host! He was very communicative and polite. He showed me everything I needed to know about the camper. The camper came fully stocked with blankets, pillows, chairs, and kitchen supplies. I highly recommend renting this camper!
RV Easy
RV Easy
Andrew H.

October, 2025

We had a very comfortable and enjoyable time in Melinda's RV. It was our first time using an RV of this kind - everything was straight forward to use. If we're heading to anywhere in Washington again, we'd love to hire Melinda's RV again, thank you!
2018 Thor Freedom Elite 30FE Class C RV- Sleeps 10
2018 Thor Freedom Elite 30FE Class C RV- Sleeps 10

Frequently asked questions about renting an RV near Penrose Point State Park

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