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

Let's start with a few questions to narrow down your options.

How many people need a place to sleep?

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.

Find your personal RV rental style

How to rent a RV in Penrose Point State Park

  • 1

    Search by location

    Tell us where in Penrose Point State Park you want to pick up or have your RV delivered

  • 2

    Filter search results

    Sort by vehicle type, date, price, and amenities

  • 3

    Message the owner

    Learn more about your favorite RV and the best local destinations

  • 4

    Request a booking

    Send a request directly to the host and start preparing for your adventure

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.

Be the first to get doses of destination inspiration, and discount codes.

We care about the protection of your data. Read our privacy policy

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

Robert R.

April, 2026

Great host very responsive. Clean van- well organized
The Elite Explorer: Custom Luxury 4x4 Sprinter Van
The Elite Explorer: Custom Luxury 4x4 Sprinter Van
Jackson H.

April, 2026

The Snuggle Shuttle was the perfect cozy getaway for a couples nature retreat. The bed was bed very spacious and comfortable. The host provided cooking and eating utensils, plus storage space for luggage. The van was capable of going everywhere we needed it to, without the hassle of the size of an RV. The host was very communicative and helpful, we had a very easy and enjoyable trip thanks to them!
The Snuggle Shuttle - Cozy Camper for Two and your Pup
The Snuggle Shuttle - Cozy Camper for Two and your Pup
Clayton S.

March, 2026

Awesome trip with the van! Monica gave a great walkthrough and provided us info on anything we might need, and the van ran smoothly and kept us warm and dry in the shoulder season in Olympic! Highly recommend!
Betsy - Fully Insulated, cozy & capable AWD all-season campervan
Betsy - Fully Insulated, cozy & capable AWD all-season campervan

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

Discover the best of what's around

  • Great Smoky Mountains National Park

    Great Smoky Mountains National Park

    +349 vehicles

  • Rocky Mountain National Park

    Rocky Mountain National Park

    +873 vehicles

  • Joshua Tree National Park

    Joshua Tree National Park

    +1334 vehicles

  • Olympic National Park

    Olympic National Park

    +1009 vehicles

  • Zion National Park

    Zion National Park

    +103 vehicles

Popular Nearby Cities

RV Rental Seattle, WA(799)RV Rental Portland, OR(638)RV Rental Vancouver, BC(545)RV Rental Nanaimo, BC(516)RV Rental Victoria, BC(1024)RV Rental Tacoma, WA(753)RV Rental Bellingham, WA(943)RV Rental Vancouver, WA(652)

Popular Nearby Counties

RV Rental Nanaimo County, BC(516)RV Rental Kitsap County, WA(809)RV Rental Sunshine Coast, BC(464)RV Rental Fraser Valley, BC(521)RV Rental Greater Vancouver, BC(552)RV Rental Snohomish County, WA(996)RV Rental Clark County, WA(706)RV Rental Grays Harbor County, WA(644)

Popular Nearby Parks

RV Rental Jarrell Cove State Park, WA(743)RV Rental Belfair State Park, WA(763)RV Rental Dash Point State Park, WA(772)RV Rental West Hylebos State Park, WA(763)RV Rental Potlatch State Park, WA(746)RV Rental Guerin County Park, WA(818)RV Rental Saltwater State Park, WA(776)RV Rental Manchester State Park, WA(780)RV Rental Illahee State Park, WA(784)RV Rental Millersylvania State Park, WA(1015)

State Parks near Penrose Point State Park

State Parks in WashingtonState Parks near Seattle, WAState Parks near Portland, ORState Parks near Tacoma, WAState Parks near Bellingham, WA
  1. Home
  2. RV & Motorhome Rentals
  3. Washington
  4. Penrose Point State Park
InstagramFacebookYouTubePinterestLinkedIn

Download Outdoorsy app

iOS appAndroid app
We are here for good ✨
Terms | Privacy | Sitemap
© 2026 Outdoorsy, Inc. All rights reserved.