RV rental Baraboo, WI: 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 Baraboo RV rentals for memorable road trips

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.

Find your personal RV rental style

How to rent a RV in Baraboo

  • 1

    Search by location

    Tell us where in Baraboo 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

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.

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.

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.

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
  • 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

Recent RV rental reviews in Baraboo

Laura H.

October, 2025

The camper was clean and well appointed. Andrew was a wonderful host and explained everything before our trip. He provided many extras including water in the fridge, a snack tray and even coffee pods. Just a great experience overall. And the Outdoorsy process worked very well from booking to return.
Driftless Drifter
Driftless Drifter
Lyn A.

October, 2025

They thought of everything we needed and the van was fully outfitted for our trip. Can’t recommend highly enough! Thank you for adding to such and awesome trip to northern Michigan!
Vandoit Custom - Tailgate, Work and Play Anywhere!
Vandoit Custom - Tailgate, Work and Play Anywhere!
James W.

October, 2025

The best part was the amazing LTV camper van!We loved Taralinda’s “rig”!
But also her immediate follow up no matter the day time or issue was impressive and it always solved the issue or made us understand the van better and how to relax and enjoy it!
LTV: Luxury cabin on wheels
LTV: Luxury cabin on wheels

Frequently asked questions about renting an RV near Baraboo

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 Chicago, IL(478)RV Rental Milwaukee, WI(603)RV Rental Madison, WI(373)RV Rental Oshkosh, WI(281)RV Rental Green Bay, WI(252)RV Rental Ludington, MI(390)RV Rental Cedar Rapids, IA(78)RV Rental Rochester, MN(328)

Popular Nearby Counties

RV Rental Dane County, WI(347)RV Rental Milwaukee County, WI(603)RV Rental Door County, WI(242)RV Rental Lake County, IL(498)RV Rental McHenry County, IL(434)RV Rental Dubuque County, IA(98)RV Rental Jefferson County, WI(445)RV Rental Linn County, IA(74)

Popular Nearby Parks

RV Rental Devils Lake State Park, WI(272)RV Rental Devil's Lake State Park, WI(273)RV Rental Mirror Lake State Park, WI(266)RV Rental Rocky Arbor State Park, WI(258)RV Rental Ice Age National Scenic Trail, WI(315)RV Rental Blue Mound State Park, WI(201)RV Rental Buckhorn State Park, WI(214)RV Rental Governor Dodge State Park, WI(146)RV Rental Lake Kegonsa, WI(391)RV Rental Mill Bluff State Park, WI(192)

RV Parks, Campgrounds, and State Parks near Baraboo

Top RV Parks & Campgrounds in WisconsinTop RV Parks & Campgrounds near Madison, WIState Parks in WisconsinState Parks near Madison, WI
  1. Home
  2. RV & Motorhome Rentals
  3. Wisconsin
  4. Baraboo
InstagramFacebookYouTubePinterestLinkedIn

Download Outdoorsy app

iOS appAndroid app
We are here for good ✨
Terms | Privacy | Sitemap
© 2025 Outdoorsy, Inc. All rights reserved.