85 RVs for rent in Millersville, PA
SuperhostClass C in Lebanon
2014 • 5.0 (10)
$210 USD /night
SuperhostTravel Trailer in Fredericksburg
2022 • 5.0 (5)
$130 USD /night
Class C in Denver
2016 • New listing
$200 USD /night
Travel Trailer in York-Haven
2022 • 5.0 (1)
$140 USD /night
SuperhostTravel Trailer in New-Holland
2024 • 4.9 (3)
$160 USD /night
SuperhostClass C in Honey-Brook
2025 • 5.0 (5)
$275 USD /night
Millersville RV rental: How it works
85 RVs for rent in Millersville, from $65 a night. Pick one up yourself, or have the owner deliver it and set it up at any of 51 campgrounds near Millersville, PA. Travel trailers, motorhomes and camper vans, all insured, most pet-friendly.
1. Explore RV rentals
Browse a wide range of campervans, travel trailers, and motorhomes. Filter by dates, price, amenities, RV type, or delivery availability to find the right fit for your trip.
2. Choose pickup or delivery
Pick up your RV from a local host in Millersville, PA or arrange delivery directly to your campsite, home, or other approved destination.
3. Get ready to travel
Confirm your booking and coordinate details with your host before departure. Insurance coverage and roadside assistance are included, so you can travel with confidence.
Millersville RV rental reviews - 4.9 out of 5 from 409 renters
5.0
2021 Keystone Travel TrailerGreat holiday weekend in Dalton's camper! He was an amazing host, and everything was as described. We had the camper delivered and picked up by Mike, who was also awesome! Thanks for a great weekend!
Stephanie HoweSep 2026
5.0
2025 East to West Class CGreat host! Wonderful vehicle, our family had an amazing time as my kids first RV trip!
Samuel JungAug 2026
5.0
2014 Winnebago Class CReuben went over the RV with us in good detail to explain how everything worked. The RV worked well for our trip and was well equipped. He went the extra mile to help us with the AC.
JM
Joel MeyersAug 2026
5.0
2025 Forest River Travel TrailerFantastic experience! The RV delivery and pick up were easy, the RV was clean and comfortable- our granddaughter loved the top bunk- and Owen communicated effectively, even when I texted him kind of late to ask about the stove. I would highly reccomend Owen!
OLIVA TARKINGTONJul 2026
5.0
2019 Forest River Travel TrailerWe had an excellent experience. Our RV was set up and waiting for us when we arrived at our destination. It had everything we needed and was spotless. We also had plenty of room and never felt cramped. Ryan was very responsive and helpful.
RS
Rachel SmithJul 2026
5.0
2022 Cruiser RV Travel TrailerThis camper was really great. Eugene was a great host. From start to finish he was very easy to work with. Delivery is a great option as the camper beat us to the campground. The camper was stocked with everything we needed. We had a great weekend at a family reunion and would definitely rent from him again.
Emily GlennJul 2026
5.0
2023 Winnebago Class CWe rented for a shorter 3 day trip. Love the Winnebego View! Clean, comfortable and easy to drive. George had RV equipped with all the essentials so very little we needed to do to other than enjoy our trip. Would definitely rent again. TH
TH
Terry HallauerJun 2026
5.0
2021 Coleman Travel TrailerPJ was an awesome host. This was our first time using a camper and he taught my husband and I how to attach the camper to the hitch and about general use. We would definitely book with him again in the future!
KD
Kelly DeweyJun 2026
5.0
2021 Forest River Travel TrailerThis was our first time renting a camping trailer, and overall we had a great experience. Pickup and drop off were easy, and Wendy was responsive and accommodating, including with a last minute booking. Overall, everything went smoothly and we really appreciated the communication and flexibility throughout.
Melanie KurimchakJun 2026
Best National Parks near Millersville, PA
Virginia
West Virginia
Tennessee
Popular State Parks near Millersville, PA
Maryland
Pennsylvania
Maryland
Pennsylvania
RVezy vs. Traditional RV rental
RVezy rentals
- Book directly from local RV owners
- Choose the exact RV you want
- Delivery to your campsite, home, or destination
- More variety: trailers, motorhomes, and campers
Traditional RV rental
- Limited fleet from a rental company
- Exact RV not guaranteed
- Pickup only at retail locations
- Fewer RV types and less availability
RV delivery to 51 campgrounds near Millersville, PA
Skip the pickup. Skip the towing. Get an RV delivered and set up at your campsite so you can arrive, unpack, and start your trip stress-free.
Choose your perfect RV
Browse RVs that offer delivery to your site and book the one that fits your budget and adventure style.
Lock in your campsite
Reserve your campsite with the hookups and amenities you need. We’ll help you find RVs that meet site requirements.
Arrive and relax
Your host delivers and sets up the RV before you get there. Just show up and start enjoying your trip.
Find the perfect RV for these nearby campgrounds
Circle M RV and Camping ResortPequea Creek CampgroundOld Mill Stream Camping ManorOtter Creek CampgroundTucquan Park Family CampgroundFlory's Cottages and CampingMill Bridge Village and Camp ResortOlde Forge CampgroundMuddy Run Recreation Park - UtilityCountry Acres Campground
Search campgroundsRV rentals near Millersville, PA
Harrisburg, PA34 miles awayAudubon, PA50 miles awayBaltimore, MD51 miles awayAllentown, PA63 miles awayPhiladelphia, PA64 miles awayAshton-Sandy Spring, MD69 miles awayWashington, DC84 miles awayScranton, PA105 miles awayJersey City, NJ132 miles awayNew York, NY134 miles awayOcean City, MD134 miles awayWalden, NY157 miles away
Frequently asked questions about renting an RV in Millersville, PA
How much does it cost to rent an RV in Millersville, PA?
Good news: RV rental in Millersville is surprisingly affordable compared to flying or booking Lancaster County hotels during peak season. On RVezy, travel trailers typically start around $90 to $150 per night, Class C motorhomes range from $175 to $275 per night, and larger Class A rigs run $225 to $400 per night. Booking midweek (Sunday through Thursday) and avoiding fall foliage weekends in October can save you 20% or more. For a cheap RV rental in Millersville, filter by travel trailers and look for hosts offering weekly discounts. Pro tip: families visiting Hersheypark or Dutch Wonderland often save the most by renting a trailer and parking at a nearby campground instead of booking multiple hotel rooms.
discoverlancaster.com/What license do I need to rent an RV in Millersville?
Great news for first-time renters: a regular Pennsylvania driver's license (or any valid US or Canadian license) is all you need to rent an RV in Millersville. There's no special RV endorsement or Commercial Driver's License (CDL) required for any of the motorhomes or travel trailers on RVezy, even the big Class A coaches. You'll need to be 25 or older to book, and RVezy verifies your ID through the platform during checkout so everything is handled before pickup. Visiting from overseas? Grab an International Driving Permit (IDP) from your home country's auto association before you fly in. Most guests are surprised how quick and paperwork-free the process really is.
dmv.pa.gov/Driver-Services/Driver-Licensing/Pages/default.aspxWhat protection is included when I rent an RV in Millersville?
You are covered from the moment you book. Every RV rental in Millersville through RVezy includes a renter protection plan plus 24/7 roadside assistance, so you can focus on enjoying Lancaster County and Amish Country instead of worrying about the what-ifs. The protection plan covers eligible damage to the RV during your trip, and you choose the coverage level that fits you at checkout (the renter selects the plan, not the host). Review the plan options at booking so you know exactly what is included before you hit the road, whether you are navigating the lanes around Strasburg or parking near the Susquehanna River.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Millersville RV rental?
Booking is low risk. RVezy sets the cancellation policy (not individual hosts), and every reservation includes a short grace period right after booking so you have breathing room if plans shift. After that window, the refund depends on how far out from your trip you cancel. If a host cancels, guests receive a refund or travel credit. Full policy details are available in the RVezy Help Center, and customer support is available before, during, and after your trip. Pro tip: book early to lock in the best rigs for Lancaster County fall foliage season, then relax knowing flexibility is built in.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV trip from Millersville?
Absolutely, your pup is welcome on the adventure. Plenty of hosts offer pet-friendly RV rental in Millersville, and you can filter listings by pet-friendly when searching on RVezy. Many Lancaster County campgrounds also welcome dogs, including Sun Outdoors Lancaster and Pinch Pond Family Campground, and nearby Susquehannock State Park has dog-friendly trails with sweeping river overlooks. Pro tip: message the host before booking to confirm pet fees and bring a leash, waste bags, and proof of vaccinations for campground check-in.
rvezy.com/rv-search?SearchAddress=Millersville%2C%20PennsylvaniaCan the RV be delivered to my campground near Millersville?
Yes, and it is one of the easiest ways to start your trip. Many hosts on RVezy offer RV delivery in Millersville and across Lancaster County, meaning they will drive the RV to your campsite at places like Pinch Pond Family Campground or Sun Outdoors Lancaster, level it, hook up water and power, and walk you through every system before handing over the keys. This is a great option if it is your first time renting an RV or you would rather skip towing through Lancaster. Delivery fees vary by distance. Pro tip: message the host before booking to confirm delivery to your specific campground and lock in the fee.
help.rvezy.com/hc/en-us/articles/360038984714-Delivery-optionsHow far can I drive on an RV trip from Millersville?
Pretty much anywhere the Mid-Atlantic offers. Millersville sits in a sweet spot of the East Coast, putting great destinations within an easy day's drive: Hersheypark is about 30 miles north, Gettysburg National Military Park is about 55 miles west, Philadelphia is about 70 miles east, the Pocono Mountains are roughly 100 miles northeast, and Washington, DC is about 120 miles south. Each host sets their own mileage policy, with daily allowances often between 100 and 200 miles, plus options for RV rental with unlimited mileage on longer journeys. Pro tip: if you are planning a bigger RV road trip from Millersville to Shenandoah National Park or the Outer Banks, filter for unlimited mileage listings to save on overage fees.
rvezy.com/rv-search?SearchAddress=Millersville%2C%20PennsylvaniaWhere are the best campgrounds near Millersville, PA?
You're spoiled for choice in Lancaster County. Some of the best campgrounds near Millersville include Pinch Pond Family Campground in Manheim (full hookups and a lake about 20 minutes north), Sun Outdoors Lancaster (formerly Old Mill Stream) right next to Dutch Wonderland with pool and family activities, Susquehannock State Park for tent-friendly cabin-style camping with stunning river overlooks just 15 miles south, and Muddy Run Recreation Park in Holtwood with lakeside RV sites about 20 minutes from town. For something woodsier, Gifford Pinchot State Park is an hour west with hookup sites. Pro tip: book Lancaster County campgrounds at least 2 to 3 months ahead for summer weekends and October foliage season, they sell out fast.
dcnr.pa.gov/StateParks/FindAPark/Pages/default.aspxWhen is the best time for an RV trip in Millersville?
Late April through late October is the sweet spot for RV camping in Millersville, with a true peak in late September and early October when Lancaster County's farm valleys turn gold and red. Spring brings 60 to 75 degree days perfect for biking the Conestoga Greenway, summer runs warm and humid (80 to 90 degrees, occasional thunderstorms), and fall foliage typically peaks the second and third weeks of October. Winter rentals are possible too if you book a four-season rig with a heated underbelly. Pro tip: visit in mid-September to catch warm days, cooler nights, fewer crowds at Amish farm markets, and Lancaster County's harvest season in full swing.
weather.gov/ctp/I have never rented an RV before. Will I be okay driving around Millersville?
You will do great, and you are not alone. First time renting an RV is genuinely common around Millersville because the mix of straight rural highways like Route 30 and Route 222 and gentle rolling terrain is far easier than mountain driving. Every RVezy host gives you a full walkthrough at pickup covering driving tips, leveling, hookups, and the dump tanks before you leave the driveway. Stick to main roads, avoid the historic covered bridges (Lancaster County has many with height and weight limits), and use a GPS app set to RV mode so you are routed safely around low clearances. Pro tip: do a short practice loop in a quiet area near pickup to get comfortable with mirrors, turning, and braking before heading to the campground.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat if something goes wrong with the RV during my trip?
Help is one phone call away, day or night. Every RV rental in Millersville on RVezy includes 24/7 roadside assistance as part of the renter protection plan, so if you get a flat tire on Route 30, a dead battery at the campground, or run out of fuel near the Susquehanna, a dispatcher arranges service quickly. Your host is also typically a quick text away for questions about appliances or systems specific to their RV. RVezy customer support is available before, during, and after your trip for anything else. Pro tip: save the roadside number in your phone before pickup and snap a photo of the RV's VIN and license plate so you can share details quickly if needed.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take an RV from Millersville across state lines or into Canada?
Yes, interstate travel is welcome and one of the best parts of an RV road trip from Millersville. Popular cross-state routes include Maryland's Chesapeake Bay (about 90 minutes), Virginia's Shenandoah National Park (about 3 hours), the New Jersey Shore (about 2.5 hours), and upstate New York's Finger Lakes (about 4 hours). Travel into Canada is allowed with many hosts as long as insurance and protection coverage are confirmed before you cross, so message the host directly through the listing to confirm. Travel into Mexico is not permitted on RVezy rentals. Pro tip: bring your passport (or enhanced ID) if Canada is on your itinerary and share your route with the host at booking.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much should I budget for fuel on a Millersville RV trip?
Fuel is usually the biggest variable, but it's manageable in this region. Pennsylvania gas prices typically run slightly above the national average, hovering around $3.40 to $3.80 per gallon for regular in the Lancaster area. Expect roughly 8 to 10 miles per gallon (MPG) for a Class A motorhome, 10 to 14 MPG for a Class C, 16 to 20 MPG for a campervan rental in Millersville, and your tow vehicle's normal MPG (minus a few) when pulling a travel trailer. Pro tip: fill up at Costco or Sam's Club in Lancaster before heading out for the cheapest local fuel, and use the GasBuddy app to spot deals along Route 30 and the PA Turnpike.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground in Lancaster County?
Earlier is better, especially for summer and fall. Private campgrounds like Sun Outdoors Lancaster and Pinch Pond fill up 3 to 6 months ahead for weekends from Memorial Day through Halloween, while Pennsylvania state parks (Susquehannock, Gifford Pinchot, French Creek) can be booked up to 12 months in advance through the Pennsylvania State Parks reservation system. For weekday trips or shoulder season (late April, early November), you can usually find sites 2 to 4 weeks out. Pro tip: if your top pick is full, set a calendar reminder to recheck the state park system at exactly 11 months and 1 day before your dates, that's when fresh inventory opens up and locals snap up the best riverside sites.
pennsylvaniastateparks.reserveamerica.com/What are driving conditions like around Millersville?
Driving conditions are generally easy and forgiving, which is great for an RV. Millersville sits in gently rolling farmland with well-maintained state roads, and you will mostly stick to Route 30, Route 222, and Route 741. Watch for two local quirks: horse-and-buggy traffic on rural roads through Amish areas (slow down and pass only when safe and legal) and historic covered bridges with low clearances and weight limits, so check your RV's height before routing through them. Winter can bring snow and ice from December through February. Pro tip: download offline maps before you go, cell service can drop in the deeper farm valleys west of Strasburg.
511pa.com/What amenities can I expect at campgrounds near Millersville?
Lancaster County campgrounds are well-equipped and family-friendly. Most private parks like Sun Outdoors Lancaster, Pinch Pond, and Country Acres Campground offer full hookups (water, 30/50 amp electric, sewer), Wi-Fi, swimming pools, laundry, propane refills, and on-site dump stations. State parks like Susquehannock and Gifford Pinchot typically provide electric hookups but use centralized water spigots and dump stations rather than sewer at each site. For potable water and dump stations on the road, the Flying J/Pilot truck stops along the PA Turnpike are reliable stops. Pro tip: ask your host whether the RV's freshwater tank is filled at pickup, many will top it off, saving you a stop on the way to your first night's site.
dcnr.pa.gov/StateParks/WhatToDo/Camping/Pages/default.aspxWhat is actually inside the RVs I can rent in Millersville?
More comfort than most people expect. RVs on RVezy in Millersville range from cozy campervans with a bed, mini-kitchen, and portable toilet up to family-sized Class C motorhomes and travel trailers with queen bedrooms, bunkbeds, full bathrooms with hot showers, propane stoves, microwaves, fridges, air conditioning, furnaces, awnings, and TVs. Many include onboard generators, solar, or Wi-Fi hotspots, ideal for working remotely from a campsite near the Susquehanna. All passengers need a proper seatbelted seat for travel, so check the listing for sleeps versus seatbelt counts. Pro tip: filter by amenities like generator, solar, or pet-friendly to narrow down listings that match how you travel.
rvezy.com/rv-search?SearchAddress=Millersville%2C%20PennsylvaniaWhat add-ons and pickup options can I expect from Millersville hosts?
Hosts in the Millersville area offer a great mix of convenience add-ons to make your trip easier. Common extras include linens and bedding packages, kitchen kits, camping chairs and outdoor mats, bikes or kayaks (handy for the Susquehanna River and Lancaster County Central Park), portable grills, generator use, and propane top-offs, typically running $10 to $75 each. Pickup is usually at the host's home in or near Millersville, and many offer RV delivery to local campgrounds for a flat fee or per-mile rate. Mileage policies vary, so check the listing for daily allowances and overage costs. Pro tip: bundle your add-ons when you book to avoid scrambling for sheets and chairs the morning of pickup.
visitpa.com/region/dutch-country-roadsHow does payment and the security deposit work?
Payment is simple and handled entirely through the RVezy platform, no cash and no awkward handoffs at pickup. You pay the rental total, renter protection plan, and any add-ons with a credit or debit card when you book, and a refundable security deposit is held (not charged) before your trip starts. As long as the RV comes back in the same condition with no policy violations, the hold is released after your trip ends. Deposit amounts vary by RV. Pro tip: take a quick video walkaround of the RV at pickup and dropoff with the host present, it is the easiest way to document condition and keep your deposit return smooth and stress-free.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-works