RV rental Waukesha, 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 Waukesha RV rentals for memorable road trips
Book an RV in Waukesha and your RV adventure will be underway. The city of Waukesha is the county seat for Waukesha County; it is a smaller city and is part of the Milwaukee metropolitan area.
Find your personal RV rental style
How to rent a RV in Waukesha
- 1
Search by location
Tell us where in Waukesha 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
Retzer Nature Center is on the west side of Waukesha and has nature trails for walking and hiking, prairie and wildlife viewing, a learning center and a planetarium. A day trip here should begin with the learning center, which will help guests learn what to watch for when they are out discovering the park; cameras should be considered necessary, as there is so much to see and watch for that you will need a way to record your memories. At the end of a day of hiking, the planetarium can demonstrate the things you will want to watch for in the night sky. Better yet, park your Waukesha rental travel trailer nearby, and you can turn this venue into a two-day adventure beginning with a non-rushed breakfast on the second day.
RV Parks
Due to the colder weather in winter months, most RV parks in and near Waukesha are closed for the winter. One exception to this is the Wisconsin State Fair Park RV Park, located 15 miles east, near Milwaukee. It has full-service hookup sites (water, sewer, and electricity), a propane filling station, men's and women's showers, and a coin laundromat.
Exploring The City
The first stop on your exploration of this wonderful city should be the Waukesha County Museum, which has a permanent display dedicated to Waukesha's native son, the late great Les Paul. The museum has multiple displays for viewing and there is always something new and interesting to see.
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
- Glacial Drumlin State Trail, WIWaukesha, WI
- Lake Country Recreation Trail, WIPewaukee, WI
- Retzer Nature Center Trails, WIWaukesha, WI
- Ice Age Trail: Delafield, WIDelafield, WI
- Plantation Path, WIKettle Moraine State Forest Lapham Peak Unit, WI
- Kettle View and Meadow Trails Loop, WIKettle Moraine State Forest Lapham Peak Unit, WI
- Greenfield Park Trail, WIMilwaukee, WI
- Hank Aaron State Trail, WIMilwaukee, WI
- Ice Age Trail to Lapham Peak, WILapham Peak Park, WI
- Ice Age Trail: Hartland, WIHartland, WI
- CampgroundsLocation
- Country View Campground, WIWaukesha County, WI
- Bark River Campground, WIJefferson County, WI
- Lake Lenwood Beach and Campground, WIWashington County, WI
- Jefferson County Fair Park Campground, WIJefferson County, WI
- Cliffside Park Campground, WIRacine County, WI
- Playful Goose Campground, WIDodge County, WI
- Milton KOA, WIRock County, WI
- Hoeft's Resort & Campground, WISheboygan County, WI
- Whistle Stop Campground, WIDane County, WI
- Derge Park Campground, WIDodge County, WI
- RV dealerships in Wisconsin
Recent RV rental reviews in Waukesha
Callie M.
November, 2025
Our first road trip was a success! Thanks to G&G for renting out your van for others to enjoy and for being incredible hosts. The quick response when we ran into a hiccup was very much appreciated. The van ran smoothly and not a complaint about discomfort from the anyone. We drove from Wisconsin to Connecticut and it felt like we only drove for a few hours. Five stars from this group!
Thomas S.
November, 2025
I was initially worried given the age of the vehicle, but Dave was very good at keeping open lines of communication and doing what he could to keep my trip easy and comfortable. Though ultimately this RV was a little small for my specific needs, we still had a good weekend and didn't have to worry about much of anything. I sincerely hope that should Dave continue offering this unit for rentals that people don't let the other review dissuade them. It stays warm in cold weather, the fridge and freezer work excellently, and the RV works as expected overall.
Thank you again!
Thank you again!
Margherita B.
October, 2025
Better than best. everything was just ideal. The car was clean reliable easy to drive, so much fun. the tent was better than I imagined - FANTASTIC!. the host was a dream: she added lanters, coolers, sleeping bags, blankets, pillows, everything and even more to make our stay in Wisconsin a total dream. I am extremely grateful to Danielle and Outdoorsy for helping me creating the best experience for my children and myself. WHOLEHEARTEDLY RECOMMENDED! THANKYOU!
Frequently asked questions about renting an RV near Waukesha
Discover the best of what's around
Great Smoky Mountains National Park
+349 vehicles
Rocky Mountain National Park
+873 vehicles
Joshua Tree National Park
+1334 vehicles
Olympic National Park
+1009 vehicles
Zion National Park
+103 vehicles
Popular Nearby Cities
Popular Nearby Counties
Popular Nearby Parks
RV Rental Lapham Peak Park, WI(495)RV Rental Kettle Moraine State Forest Lapham Peak Unit, WI(491)RV Rental Kettle Moraine State ForestSouthern Unit, WI(500)RV Rental Richard Bong State Recreation Area, WI(462)RV Rental Richard Bong Recreation Area, WI(462)RV Rental Big Foot Beach State Park, WI(441)RV Rental Harrington Beach State Park, WI(452)RV Rental Illinois Beach State Park, IL(505)RV Rental Johnson Hill Kame State Natural Area, WI(381)RV Rental Moraine Hills, IL(446)
