Madison RV Rentals - best deals in WI

RV Rental Madison

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

  • 100% free roadside assistance
  • Real people here to help 24/7
  • Get it delivered
  • More reviews. More 5-star ratings
-
All towables

Trailer

Trailers for all types of towing vehicles, including SUVs and pickups.

Folding Trailer

Trailers you can tow with passenger vehicles or SUVs. A great way to transform average cars into adventure cars.

Fifth-Wheel

Larger trailers that attach to towing vehicles with a gooseneck extension in the truck bed.

Toy Hauler

Living quarters in the front with dedicated space for hauling motorcycles or other “toys” in the back.

Utility Trailer

All other types of towable trailers.

All drivables

Class C

Popular with small families and first-time RV drivers who want a little more room than a van. Comparable to driving a truck.

Camper Van

The smallest and nimblest of fully enclosed RVs. Drives like a van. Loves posing for Instagram.

Class B

A formal-sounding name for camper van, but just as photogenic.

Class A

Drivers should be comfortable driving bus-sized vehicles and dealing with parking limitations. Great for delivery.

Truck Camper

If you can drive a truck, you can drive a truck camper. Makes roughing it significantly less rough.

Other

All other types of drivable vehicles.

0
0

How to rent an RV on Outdoorsy


  • Search by location

    Search by location

    Tell us where you want to pick up or have your RV delivered

  • Filter search results

    Filter search results

    Sort by vehicle type, date, price, and amenities

  • Message the owner

    Message the owner

    Learn more about your favorite RV and the best local destinations

  • Request a booking

    Request a booking

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

Discover Madison


Just 80 miles west of Milwaukee, Madison is one of the largest cities in the state of Wisconsin, in addition to being the state capital. Madison is uniquely positioned between Lake Monona and Lake Mendota, which create a small isthmus where the state capital building is located. Madison was founded in 1836 and is named for James Madison, the fourth president of the United States.

When you book an RV in Madison, it will become clear as day why so many people believe the city to be one of the very best in the country to live or visit. Consistently top-rated by newspapers and periodicals, this cultural powerhouse of a city has everything you could possibly want. Trendy coffee shops, new-age breweries, cuisines from all different cultures, exciting sports events, music performances, grand old architecture, and beautifully manicured landscapes are why so many people visit Madison.

Interstate 90 connects the city with Chicago and other regional hubs, as does Interstate 94, both of which run through Madison. The incredible public transportation, regional airport, and an extensive network of bicycle trails make Madison an overall friendly place to explore or even take a leisurely stroll through the storied streets of the state’s gorgeous capital.

Experience the Sites and Scenery

If Madison weren’t already great enough, it is home to one of the best collections of public parks, beaches, walking & biking trails, and sports facilities. With 6,000 acres spread out across more than 250 public parks, you’ll surely find a park to suit your needs when you vacation in the vibrant city of Madison.

Warner Park is closely intertwined with its local neighborhood, frequently hosting celebrations and festivals. This large park is great for pleasant walks around the pond or fishing, among other things. Places like Olbrich Park Beach and Olin Park are known for their awesome lakefront beaches located right in the city, so long drives in your Madison camper rental are not necessary when you want to cool off and take a swim.

Outside of Madison, the trend continues; there are countless other nature spots and recreation areas for you to enjoy when you rent an RV. Capital Springs State Recreation Area is situated on both Upper Mud Lake and Lake Waubesa just outside of Madison and can be found on the National Register of Historic Places for its rich archaeological history and indigenous tribal excavation sites. Hiking around the lakes, canoeing, kayaking, or swimming are great ways to experience this lovely recreation area.

Lake Kegonsa State Park is a little bit past Stoughton and also involves a pleasant lake. The lake is a glacial remnant from the last ice age some 12,000 years ago that now serves as a refreshing swimming and fishing area. Lots of boat launches and docks are available should you have access to a boat.

Lake Winnebago is about 75 miles northeast of Madison. It’s a famous lake in Wisconsin that is suitable for nearly all types of water recreation activities, and there are a number of fun campgrounds and state parks that line its shores where you can park the Madison RV rental. High Cliff State Park is named for its steep escarpments and unusual geological features that can be found on any of the hiking trails. In addition to its scenic wilderness areas, High Cliff State Park is home to several ancient effigy mounds created by the natives that inhabited the area for thousands of years.

Getting to Chequamegon-Nicolet National Forest involves several hours of driving in your Madison motorhome rental, but it is surely worth the effort. This national forest covers 1.5 million acres of pristine forest, wetlands, savanna, bogs, rivers, and glacial lakes. Three majestic wilderness areas can be explored if you have the right equipment and survival skills to comfortably do so.

City Attractions

Despite people’s best efforts, it is truly impossible to even see a fraction of all the amazing things in Madison when they visit for a vacation. You would have to move to Madison to fully appreciate just how special the city is. The Wisconsin State Capitol building is one of many architectural wonders found in Madison. The state legislature passed a law forbidding any other building to overtake the capitol building in height, so the great big dome is the most prominent feature of the city skyline. The square in which the capitol sits is known for all sorts of activities, like the Dane County Farmers Market. The University of Wisconsin-Madison Arboretum and the Olbrich Botanical Gardens are two places where fabulous nature is on display. Exotic flowers and plants decorate the edges of the many footpaths, and meditating is wonderful while exploring these gorgeous gardens.

Another fun facet of Madison’s identity is that it is an intellectual hub with many cultural institutions and learning centers. Chazen Museum of Art, Madison Children’s Museum, and Wisconsin Historical Museum are all delightful places to learn a thing or two about the area or gaze upon iconic art. Henry Vilas Zoo has animals from every continent on display, and families seem to love visiting this exciting attraction that ranks among the best in the nation.

Where to Park It

Madison seems to have everything you could possibly need when you rent an RV in the city, and finding an overnight camping space is no exception. Milton KOA, near Lake Koshkonong, is a place to consider, with a refreshing pool, large clubhouse, game room, and four-acre recreation area with things like disc golf and beach volleyball.

Madison KOA is closer to the downtown area, so all of the exciting shops and restaurants are not too far away when you set up camp with the Madison camper rental here. This KOA park offers bicycles to rent which come in handy for area exploration, and there is a pool and a dog park on site. Viking Village Campground is great for events and has a large heated pool. Badgerland Campground is located right outside the city and has a fishing pond, swimming area, playground, and its very own bar.

Popular RV Types & Amenities

Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • Edgewood College Nature Trail, WIMadison, WI
  • Picnic Point Marsh Loop Trail, WIMadison, WI
  • Capital City Trail, WIMadison, WI
  • Turville Point Conservation Park Trail, WIMadison, WI
  • The Quarry, WIMadison, WI
  • UW Arboretum Big Spring Hike, WIMadison, WI
  • Curtis Prairie, WIMadison, WI
  • UW Arboretum, WIMadison, WI
  • Governor Nelson Circuit, WIWaunakee, WI
  • Morningside Trail, WIWaunakee, WI

Frequently Asked Questions


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