Baraboo RV Rentals - best deals in WI

RV Rental Baraboo

Find the perfect RV rental in Baraboo, WI. Simple, easy and fully insured.

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Discover Baraboo


Baraboo is the county seat of Sauk County, Wisconsin; it was established in 1838 as the village of Adams and selected as the county seat in 1846 after a fierce competition with neighboring Reedsburg. It was renamed in 1852 after a nearby river, incorporated as a village in 1866 and again as a city in 1882. It was a natural choice as the location for several sawmills early on due to its proximity to the river; in 1884 it became home for the Ringling Brothers Circus. Several other circuses moved to Baraboo, and it was nicknamed “Circus City” and became home to the Circus World Museum, a collection of circus wagons and other paraphernalia.

Search for an RV in Sauk County, and you can choose from a variety of RV makes and models to find the ideal one for you. Other towns are worth exploring while you're here. Mauston began as a lumber town in Wisconsin's early lumber industry. Portage's city slogan is “Where the North Begins.” Reedsburg began as a shanty town housing workers building a dam after an earlier immigrant left a flat bottomed boat for people to cross the river. Your Baraboo travel trailer rental is how you will experience this historic area in class and style.

The Great Outdoors

Mirror Lake State Park is a developed recreation area where visitors can rent pontoon boats, canoes, kayaks, and standup paddleboards. It is named for the calmness of its lake which seldom has a ripple. There is a campground for overnight guests and a beach where they can swim. The shoreline is wooded with the occasional tall cliff; the park has picnic areas.

Pine Island State Wildlife Area is named after one of the islands in the Wisconsin River but includes several of the river's islands. It is located in the floodplains of the Wisconsin and Baraboo Rivers, consisting of grasslands and wetland, oak/savanna, and wooded habitats. The area was established in 1952 and is used by Canadian Geese as well as endangered reptile, bird, and insect species, whitetail deer, wild turkey, and other mammals. The park is an ideal location for birding and wildlife viewing, fishing, hunting and gathering edible plants, and much more; camping is not allowed within the park. Park your Baraboo RV rental nearby, and you can enjoy the comforts of home between your park explorations.

Devil's Lake State Park is open to the public year-round from early morning to late evening and has a visitors center and a nature center (guests should call them to confirm operating hours). It was established in 1911 and is one of the oldest and most visited parks in the state. The park has miles and miles of trails for hiking; visitors can also enjoy cycling, rock climbing, and picnicking. There are sandy beaches where guests can swim or suntan, or they can enjoy scenic views from the quartzite bluffs that look out over the lake.

RV Parks

There are numerous RV parks and campgrounds near Baraboo, and some of them may have mobile homes. Your Baraboo camper rental is your guarantee of a comfortable vacation no matter where you stay.

Fox Hill RV Park & Campground is a family-friendly RV park open from late April to mid-October. It has a playground and heated swimming pool, basketball and volleyball courts, a disc golf course, and more. There are restrooms and indoor/outdoor showers, laundry facilities, and a camp store. Guests looking for photo ops will appreciate the life-size chess and checkerboards and the nature trails where they can view the plant and wildlife. Cabins are available for rent, and some sites are for tent camping.

Exploring The City

Visitors coming to Baraboo with family will want to check out Circus World and AL. Ringling Mansion; the mansion has tours where guests can see and listen to the history of the family and check out the antique items on display. One local wildlife area has all 15 of the world's crane species on display; guests visiting the park can take a guided tour, hike the property's nature trails, or browse through the park's gift shop for crane-themed items.

Shoppers can check out the designer outlet mall for good deals on name-brand products; it is an outdoor rather than indoor mall but has a roof to protect shoppers from inclement weather. Adults will enjoy the local distillery and winery where they can relax and sample the local products. Don't forget to take your Baraboo motorhome rental for a spin around the countryside. This is your chance to experience driving an RV; be warned, though, it can be an addictive experience.

By now visitors will have worked up an appetite, and this is a good thing; Baraboo has an impressive selection of food outlets ranging in price from inexpensive to moderately priced, and most of them are locally owned. One local cafe is open for lunch and dinner, and it has an roomy open feel with a bar area and dining room. There are wall pictures adding a homey touch to the ambiance. The menu has soups, salads, and sandwiches as well as dinner entrees. Wrap up your leftovers and take them home to your Baraboo luxury RV rental for a late-night snack; this is what vacations are all about.

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


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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.

Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • Devil's Lake Loop, WIDevil's Lake State Park, WI
  • Ice Age Trail: Devil's Lake to Parfrey's Glen, WIDevil's Lake State Park, WI
  • East Bluff Trail Loop, WIDevil's Lake State Park, WI
  • West Bluff Trail, WIDevil's Lake State Park, WI
  • Balanced Rock Trail, WIDevil's Lake State Park, WI
  • Devil's Doorway Loop, WIDevil's Lake State Park, WI
  • Grottos Trail, WIDevil's Lake State Park, WI
  • Grottos and East Bluff Loop Trail, WIDevil's Lake State Park, WI
  • Rozno's Meadow Trail, WIDevil's Lake State Park, WI
  • Ice Age National Scenic Trail - Devil's Lake Segment, WIDevil's Lake State Park, WI