Penrose Point State Park, WA RV Rentals and Motorhome Rentals

Find the perfect RV rental in Penrose Point State Park, WA. Simple, easy and fully insured.

Book now: (855) 383-0434

Explore Penrose Point State Park RV Rentals


Discover Penrose Point State Park, WA


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.

Planning a getaway to the Pacific Northwest? Book an RV in Pierce County and you can explore Penrose Point, as well as other nearby gems like Haley State Park and Joemma Beach. Alternatively, start your trip in the Emerald City and pick up a Seattle camper rental. From family-sized rigs to compact campers, you'll find a huge selection of RV rentals in Pierce County and across Washington State.

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.

At low tide, Penrose Point State Park is a goldmine for clams and oysters — perfect for enjoying a shellfish feast back at your campsite. You can also cast a line for crabs and saltwater fish. Don't forget to pick up a recreational license for fishing and shellfish harvesting. On a sunny day, the grassy knoll overlooking Carr Inlet is the perfect place to enjoy a picnic. You can also set up at the breezy day-use area featuring picnic tables, grills, and a restroom.

More than two and a half miles of well-marked hiking trails wind through the forest and take you past towering Douglas fir, Pacific madrone, western red cedar, red alder, and big-leaf maple groves. Some of the steeper trails are popular with mountain bikers. For an easy hike, hit the self-guided A Touch of Nature interpretive trail. It was built by local scouts in 1982 and spotlights the local flora and fauna of the park. Birders will be in their element, with the chance to spot woodpeckers, bald eagles, and blue herons.

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.

Like most state park RV campgrounds, Penrose Point offers modern bathroom blocks with flush toilets and token-operated hot showers. There are no sewer hookups, though you can take advantage of the RV dump station near the park entrance. Sites vary in size, with most accommodating rigs of up to 35 feet in length. Some can handle larger vehicles, though the roads are narrow and winding, so it's best to book a small or medium-sized RV rental when camping at Penrose Point.

Pets are allowed; just be sure to keep your dog leashed. Motorhome camping reservations are accepted from mid-May to mid-September, with a first-come, first-served policy for the rest of the year. If you're traveling with a larger party, consider booking the popular group campsite anchored by a communal fire pit and covered picnic shelter.

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.

Need to stock up on supplies? The town of Home is a ten-minute drive up the peninsula and offers gas stations, grocery stores, and a handful of cafes and restaurants. For more choice, head to Tacoma, where you'll also find attractions like the Museum of Glass, Washington State History Museum, and Point Defiance Zoo & Aquarium. Tacoma is also a great place to rent a camper near Penrose Point State Park. A three-hour drive down the coast, Portland, Oregon is another popular base for picking up rental RVs and kicking off Pacific Northwest road trips.

RV Rentals in Penrose Point State Park, WA

Penrose Point State Park, WA is the perfect spot to start your next road trip.

There are many popular rentals in Penrose Point State Park. Outdoorsy's Penrose Point State Park RV rental marketplace allows renters to choose from rental options from professional RV rental agencies as well as RVs for rent by owner.

Frequently Asked Questions


What are RV rentals?

Renting an RV lets you enjoy the flexibility of RV travel without all the costs and maintenance of ownership. With a rental, you can book the perfect rig for any trip just like you would a car or hotel. With Outdoorsy, you rent directly from the RV owner but get the backing of programs like roadside assistance, insurance, and stellar support from real, live people 24/7.

How much are average RV rentals?

On average, you can expect to pay between $75 and $150 per night to rent most small trailers and campervans. Larger trailers and motorhomes could cost $100 to $250 per night. Renting an RV for a longer time can be even more affordable–a week or month-long rental could average out to less than $60 per day.

Are there RV rentals with unlimited mileage?

Yes! Each RV owner can choose whether to offer unlimited miles on their vehicles. You’ll be able to see if unlimited mileage is an option on any listing you check out. If unlimited miles are not available, you’ll be able to see what is included with the base rate and what extra miles will cost.

Are RV rentals pet-friendly?

Many RV owners allow pets in their rentals. Be sure to check the listing to see if it’s an option for the rig you have your eye on. You’ll be able to see if there is an extra deposit or fee for pets before you request a booking.

Do RV rentals offer delivery?

Having an RV delivered to your home or destination is a great way to simplify your trip. Many RV owners offer delivery and setup services, usually for an extra fee or within a certain distance of their location. Each listing shows whether or not delivery is an option.

Are there RV rentals near me?

RV rentals are available all over the country! Whether you want to pick up an RV near home to set out an epic road trip or if you want to have one ready at your destination, you can search by location for any type of rig.

RV rental vs buying?

Renting an RV is an affordable way to get all the benefits of RV travel without the maintenance and overhead of ownership. It’s also a great way to try out the lifestyle and different types of rigs before you take the plunge and buy your own. Already own an RV? Consider renting yours out to bring in some extra income.

How many people can sleep in an RV?

Small travel trailers and campervans can usually sleep 2-4 people comfortably. Mid-size trailers and motorhomes usually sleep 4-8. Bigger rigs often sleep 6-10, some even 12!

Why choose Outdoorsy vs Craigslist or Airbnb?

Security, for one. Outdoorsy helps protect RV owners and renters with excellent support and insurance options, and a secure platform for listings, communication, and payments. There are plenty of other reasons though, like roadside assistance, detailed listings, and a wide variety of RVs to choose from.

Search RV Deliveries


Home Delivery
Home Delivery

Have an RV delivered directly to your home and start your adventure from your front door—or add a spare room for family to stay while they’re in town.

Search Home Delivery RVs
Airport Delivery
Airport Delivery

Have an RV delivered directly to your arriving airport and start your adventure straight out the gate—no connecting rides necessary.

Search Airport Delivery RVs
Destination Delivery
Destination Delivery

Have an RV delivered directly to a campground, festival, or sporting event, and camp in style—without having to get behind the wheel.

Search Destination Delivery RVs

What's around Penrose Point State Park, WA


Check out local hikes, campgrounds, parks and more!

Popular Nearby Trails

Hiking Trail Location
Penrose Point State Park Trail Penrose Point State Park, WA
Harstine Island State Park Trail Shelton, WA
Soundview and Grandview Trails Loop Tacoma, WA
Cushman Trail Gig Harbor, WA
Titlow Park Trail Tacoma, WA
Beach Trail Lacey, WA
Twin Cedars Trail Lacey, WA
4 Cedars Outler Loop Trail Lacey, WA
Sandy Beach Trail Lacey, WA
War Memorial Park to Tacoma Narrows Bridge Tacoma, WA

Popular Nearby Campgrounds

Campground Location
American Heritage Campground Thurston County, WA
Olympia Campground Thurston County, WA
Seattle / Tacoma KOA King County, WA
Enumclaw Expo Center RV Campground King County, WA
Lake Pleasant RV Park King County, WA
Hudson-Parcher Park Campground Columbia County, OR
Lakeside RV Park Snohomish County, WA
Jefferson County Fairgrounds Campground Jefferson County, WA
Olympic Peninsula / Port Angeles KOA Clallam County, WA
Kid Valley Campground Cowlitz County, WA

Popular Nearby Parks

Share your Penrose Point State Park RV experience


Recommendations for Penrose Point State Park, WA from Outdoorsy Owners


Twanoh State Park

Warm Saltwater Marine state park on the Hood Canal. This water is warm enough in the summer for swimming. Docks, Boat launch & moorage. Hiking & Biking. Volleyball, Beachcombing w/ lots of shellfish.

Dec 20, 2018
Costco Wholesale

Costco Gig Harbor North, Burnham exit. If you have a membership, this is the cheapest gas around.

Dec 20, 2018
Gig Harbor RV Resort

Paid Septic dump service $10 in Gig Harbor. Also propane service.

May 26, 2018
Dash Point State Park

Not far off the beaten path, but offers great views of Puget Sound, nice walking trails and beach. Orca whales can be spotted during certain times of year.

Mar 14, 2018
Dash Point State Park

Paid septic dump service. Last location before Gig Harbor.

Jun 10, 2017
Purdy

Chevron in Purdy. Closest to pick up and drop off. Has gas, coffee, air and propane.

Jun 10, 2017

Recent Outdoorsy trips to Penrose Point State Park, WA


Gig Harbor

Work on our property.

Local Fave Budget Has Coffee Dog-friendly
Dec 25, 2019