Waukesha RV Rentals - best deals in WI

RV Rental Waukesha

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

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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.

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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.

The area around Waukesha was first settled in 1834 and was incorporated in 1846 as the Town of Prairie Village (which was later shortened to Prairieville). It changed its name one final time to Waukesha in 1847. In earlier times, Waukesha became widely known for its spring water and gained the titles “Spring City” and “Saratoga of the West”. It was widely claimed that the water had “healing powers”, so much that Richard W. Sears, founder of Sears and Roebuck, retired from business and moved to Waukesha in an effort to revitalize his failing health. In recent years many of the natural springs have gone dry, causing Waukesha to apply for and receive permission to withdraw water from Lake Michigan. This is an important detail, as you will want to ensure that you are properly hydrated during your time here; visitors should ensure that they have a sufficient supply of drinking water in their Waukesha rental camper.

From 1956 to 1970, Waukesha was one of three locations in Waukesha County that had a Nike Missile Battery (along with Muskego and Lannon). The battery was situated at what is now Hillcrest Park, which has been preserved as a local Cold War museum. It is also the location of one of the Tour of America's Dairyland cycling event stages. Nearby cities include Milwaukee, Hartford, Madison, Fond du Lac, and Lake Geneva.   

Discover Waukesha


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.

In Waukesha's southwest suburb, Minooka Park has easy level hiking trails in the summer that turn into fresh powder cross-country skiing trails in winter; yes, this means that the park is open year round. All four seasons are beautiful to behold, from the summer green grasses to the bright orange and red falling leaves of autumn, and the stunning black and white winter landscapes. Guests can also enjoy, season permitting, bicycle and horseback riding, and the park's swimming pond. There is also a dedicated dog area for those who have brought their best friends along. Keeping your Waukesha rental motorhome nearby and on hand means a quick shower and change of clothes before the evening fun begins.

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.

The Circle K Campground is southwest of Waukesha. It is open from May to late October and has fishing, hiking trails, shower, laundry and wireless internet. It also has a heated swimming pool.

Country View Campground is near Mukwonago and is a full service resort open from May 1st to mid-October each year. It offers its guests a swimming pool, recreation area, playground, volleyball court, games room, laundry facilities, restrooms & showers, dump station, general store with RV supplies, fishing and even Saturday night hayrides.

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.

The city has its share of parks located directly in the city, including a water park, as well as vineyards, wineries and breweries, a farmers market, bowling alleys, mini golf and sports bars, so there is always something to catch your attention. In nearby Pewaukee, you will find a rock climbing wall and an authentic Hindu temple.

Foodies will be very happy exploring the city's many cuisines, but this would not be Wisconsin without a full array of steakhouses. Those less inclined towards red meat will find pizza parlors, Chinese and Japanese, Italian and Mexican, seafood and more. Prices range from cheap to moderately priced and fine dining, so spend a little, spend a lot, as long as you have what you desire. If it is a good home cooked meal you desire, there are many local owned and operated grocery stores at your disposal, and at least one Walmart with a parking lot that can accommodate your Waukesha rental RV. Find what you need and take it back to your Waukesha luxury rental RV, where you can cook and dine at your leisure under the stars of a clear Waukesha night sky.

Popular RV Types & Amenities

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

Frequently Asked Questions


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