Rental RVs in Milroy, PA
Travel Trailer in Lamar
2021 • New listing
$130 USD /night
Delivery only
Travel Trailer in Petersburg
2021 • New listing
$135 USD /night
Delivery only
Travel Trailer in Bellefonte
2020 • (1)
$138 USD /night
Travel Trailer in Centre-Hall
2026 • New listing
$400 USD /night
Class A in Bellefonte
2009 • (3)
$230 USD /night
Travel Trailer in Spring-Mills
2018 • New listing
$110 USD /night
Delivery only
SuperhostTravel Trailer in Dauphin
2023 • New listing
$130 USD /night
Travel Trailer in Harrisburg
2022 • (1)
$115 USD /night
Travel Trailer in Selinsgrove
2002 • New listing
$135 USD /night
Delivery only
Milroy RV rental: How it works
Planning an RV trip in Milroy, PA is simple with RVezy. Search available RVs, compare options, choose pickup or delivery, and book securely online. Whether you are heading to a campground, national park, or weekend getaway, your adventure starts here.
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 Milroy, 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.
Recent Milroy RV rental reviews
Very flexible with pick up and drop off!Very cozy camper!
RS
Richard Steves
May 2026
Excellent experience. RV was great! Communication was great! Absolutely nothing to complain about. Thanks guys. We had a great time!!
Mark Liddy
Nov 2025
Great rental experience, super easy to deal with Joel. He explained everything in detail before leaving.
Jonathan Miller
Nov 2025
Reuben is a great guy and the RV was everything we needed. Communication was great throughout the process. Reuben showed us how to easily set up the RV and we were on our way!
CV
Carlos Villarreal
Sep 2025
Great family to work with RV was amazing. Thank you for the rental.
MF
Massimo Folino
Sep 2025
Shawn and Melinda made it easy to hold a memorable Penn State tailgate, even for someone like me who is new to RV rental. The Beaver Stadium RV lot didn’t have RV hookups so they made sure we had water and extra gas for the generator. They thought if every detail. The RV was super clean and well-stocked. They had excellent communication and were so friendly and helpful. I would 100% rent from them again.
GK
Ginger Kunkel
Nov 2024
It was a great experience! Very responsive and helpful with everything! Would highly recommend renting from Rinaudo!
AC
Amanda Casey
Nov 2024
Everything about our rental experience with Reuben was easy, from start to finish! Reuben responded to messages quickly and gave us a thorough overview of the rig before we took off for the weekend. Everything in the RV worked exactly as described. The mattress in the back bedroom was awesome - we slept so well on it that we're now talking about replacing our mattress at home!
Mindy Cooper
Nov 2024
Chuck is a phenomenal host and takes pride in his vehicles. We've rented from this owner several times now and will continue to do so. He is very accommodating to make sure common or unique situations go incredibly smoothly. Our entire party was truly impressed at the level of cleanliness and convenience that was provided. Truly remarkable, and easy experience that I can't recommend enough!
PS
Philip Sabato
Oct 2024
RV friendly events in Milroy, PA
Penn State Nittany Lions Football
Feel the roar of one of college football's great home venues when you roll into Happy Valley for Penn State Nittany Lions Football. Weekends here blend big-game energy with tailgate traditions, marching band pageantry, and a crowd that turns Beaver Stadium into an experience you feel in your chest. An RV gives you a private base for pregame meals, postgame wind-downs, and the freedom to explore central Pennsylvania without juggling hotel changes.
View event detailsBest National Parks near Milroy, PA
Virginia
West Virginia
Tennessee
Popular State Parks near Milroy, PA
Pennsylvania
Pennsylvania
Pennsylvania
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 a campground, made simple
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
Seven Mountains CampgroundCentre County Grange FairgroundsGreenwood Furnace State ParkHemlock Acres Camping AreaWaterside Campground and RV ParkGram and Paps Fort Bellefonte CampgroundBellefonte / State College KOA HolidayButtonwood CampgroundSunsational Family CampgroundBald Eagle State Park
Search campgroundsRV rentals in Milroy, PA
Nearby cities to rent an RV
Harrisburg, PA49 miles awayScranton, PA112 miles awayAllentown, PA112 miles awayBaltimore, MD112 miles awayAshton-Sandy Spring, MD113 miles awayAudubon, PA121 miles awayMunhall, PA124 miles awayPittsburgh, PA128 miles awayWashington, DC129 miles awayPhiladelphia, PA139 miles awayBuffalo, NY164 miles away
Frequently asked questions about renting an RV in Milroy, PA
How much does an RV rental in Milroy cost?
RV rental in Milroy, PA is one of the most affordable ways to explore central Pennsylvania, with most listings landing between $95 and $225 per night depending on size and season. Compact campervans and small travel trailers sit at the low end, while Class C motorhomes and fifth wheels for family RV trips from Milroy run higher. To score a cheap RV rental in Milroy, book midweek, target shoulder months like late April or October, and look for listings with included generator hours. Pro tip: Mifflin County hosts often discount weekly stays, so if you are stringing together Reeds Gap, Poe Valley, and Bald Eagle State Forest, ask about a multi night rate.
rvezy.com/rv-search?SearchAddress=Milroy%2C%20PennsylvaniaDo I need a special license to rent an RV in Milroy, PA?
Good news: a regular driver's license is all you need to rent an RV in Milroy for nearly every motorhome and trailer on RVezy. Pennsylvania only requires a Non Commercial Class A or B license for rigs over 26,000 pounds, and the vast majority of Class B campervans, Class C motorhomes, and travel trailers on the platform fall well under that. You will need to be 25 or older with a valid driver's license, and we confirm your ID inside the booking flow. Visiting from abroad? Bring an International Driving Permit alongside your home license. That is it, no CDL, no test, just pick up the keys and head toward the Seven Mountains.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat protection is included with my Milroy RV rental?
Every booking on RVezy automatically includes a renter protection plan plus 24/7 roadside assistance, so you can rent an RV in Milroy with real peace of mind. The protection plan covers physical damage to the vehicle during your trip, which is a huge weight off if it is your first time renting an RV. During checkout you choose the coverage level that fits your comfort, so you stay in control of your trip's safety net. With Honey Creek, Penns Creek, and gravel forest roads in the area, that backup matters. Pair that with the host's pickup walkthrough, and you are set to enjoy your Milroy RV trip stress free.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Milroy RV booking?
Booking is low risk because RVezy, not the host, sets the cancellation policy for every RV rental in Milroy. There is a grace period after booking where you can get your money back, and clear guidelines apply depending on how far out from your trip you cancel. If a host ever cancels on you, RVezy refunds your booking or helps with a credit toward a rebooking. You will see the exact terms inside your booking dashboard before you confirm payment. Pro tip: lock in your favorite rig early, because Reeds Gap and Poe Valley dates disappear fast in summer, and you are protected if plans shift.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a pet friendly RV rental in Milroy?
Absolutely, a pet friendly RV rental in Milroy is easy to find using the Pet Friendly filter on RVezy. Many central PA hosts welcome dogs, and the area is built for four legged travelers: Reeds Gap State Park allows leashed pets in designated pet friendly areas, and the Mid State Trail running through nearby Poe Paddy State Park is a tail wagger's dream. Message the host before booking to confirm any pet fees and shedding policies. Pro tip: pack a long lead, since Honey Creek and Penns Creek are perfect for a cooling dip after a hike on the Bald Eagle State Forest trails.
pa.gov/agencies/dcnr/recreation/where-to-go/state-parks/find-a-park/reeds-gap-state-park.htmlCan the RV be delivered to my campground near Milroy?
Yes, RV delivery in Milroy is one of the easiest ways to start your trip, especially if you are new to towing or driving a big rig. Many hosts on RVezy will bring a motorhome rental in Milroy straight to Reeds Gap State Park, Poe Valley State Park, Seven Mountains Campground, or even a private property, then level it, hook up utilities, and give you a full walkthrough. Use the Delivery filter to see who offers it, and message the host for a quote since fees typically scale with distance from Milroy. Pro tip: delivery is gold for first time renting an RV families who want to skip the learning curve and head straight to the campfire.
rvezy.com/rv-search?SearchAddress=Milroy%2C%20PennsylvaniaHow does mileage work and how far can I drive from Milroy?
Mileage on RVezy is set by each host, with many offering generous daily allowances and some advertising RV rental with unlimited mileage, so you can plan a real RV road trip from Milroy. Within a tank, Milroy puts you in the sweet spot of central PA: State College is about 30 miles north, Hersheypark sits roughly 90 miles southeast, Williamsport is about 60 miles north, and Gettysburg National Military Park is around 100 miles south. Check the mileage section on each listing, and if you have a longer loop planned, message the host since they are often happy to bundle extra miles into a custom quote.
help.rvezy.com/hc/en-us/articles/360038106394-How-to-pay-for-your-bookingWhere are the best campgrounds near Milroy for RV camping?
You are spoiled for choice when it comes to RV camping in Milroy. Poe Valley State Park, about 15 miles north on a mix of paved and gravel forest roads, has roughly 70 electric sites around a 25 acre lake and accepts most RVs. Seven Mountains Campground in nearby Spring Mills is big rig friendly with water and electric at every site. Reeds Gap State Park, just east of Milroy, is best for tents and small campervans. For a riverside vibe, Penn's Creek Campground offers pet friendly sites along the water. Pro tip: book Poe Valley and Reeds Gap as far ahead as possible through the Pennsylvania state parks reservation system, since summer weekends fill fast.
pa.gov/agencies/dcnr/recreation/where-to-go/state-parks/find-a-park/poe-valley-state-park.htmlWhen is the best time of year to plan a Milroy RV trip?
Late April through mid October is the sweet spot for a Milroy RV trip, lining up with when most central PA state park campgrounds are open. Summers in Mifflin County typically run 70 to 85 F with cool evenings in the New Lancaster Valley, while fall delivers spectacular foliage across the Seven Mountains, usually peaking in mid to late October. Spring brings the famous green drake mayfly hatch on Penns Creek in late May and early June. Pro tip: shoulder weeks in May and late September mean fewer bugs, lower prices, and easier campsite availability.
weather.gov/ctp/I have never driven an RV before. Will I be okay around Milroy?
You will be fine, and Milroy is actually a great place for first time renting an RV. Every host gives you a hands on walkthrough at pickup covering driving, hookups, leveling, and tank dumping, and RVezy support is a tap away if a question pops up later. The roads around Milroy are mostly two lane and low traffic, with US 322 offering a wide, well maintained route over the Seven Mountains. Start with a Class B campervan or small Class C motorhome to build confidence. Pro tip: do a short test drive in the Big Valley before tackling the gravel approach to Poe Valley, you will feel like a pro by sunset.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat if something goes wrong with the RV during my trip?
You are never on your own. Every RV rental in Milroy includes 24/7 roadside assistance as part of the protection plan, covering common issues like flat tires, dead batteries, lockouts, and towing if needed. Your host is also reachable directly through the RVezy app for quick questions about quirks like the water heater or awning. RVezy customer support is available before, during, and after your trip if anything escalates. Pro tip: cell service drops out around Reeds Gap and the back roads to Poe Paddy, so screenshot your host's number and the roadside assistance contact before you leave Milroy, then enjoy the disconnect.
rvezy.com/insurance-and-protectionCan I take my Milroy rental on a longer road trip or across state lines?
Yes, and Milroy is an awesome launchpad for a multi state RV road trip. Interstate travel within the US is allowed on RVezy rentals, so popular routes from Milroy include heading north to the Finger Lakes in New York (about 3.5 hours), east to the Pocono Mountains (around 2.5 hours), south to Shenandoah National Park in Virginia (about 4 hours), or west to Ohio Amish country. Travel to Mexico is not permitted because insurance will not cover it. Cross border trips to Canada may be possible with host approval, so message before booking. Pro tip: confirm your route in the booking notes so your host can plan accordingly.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat kind of fuel economy and gas budget should I expect?
Plan smart and your Milroy RV trip stays affordable. Class B campervans typically average 18 to 22 mpg, Class C motorhomes usually get 8 to 12 mpg, and Class A rigs sit around 7 to 10 mpg, while travel trailers depend on your tow vehicle. Pennsylvania gas prices generally run a bit above the national average, so budget accordingly when fueling up at the Sheetz or Pilot stations along US 322 in Burnham or Lewistown, both about 10 minutes from Milroy. Pro tip: top off in Lewistown before climbing into the Seven Mountains, since stations thin out fast once you head toward Poe Valley and the state forest interior.
gasprices.aaa.com/?state=PAHow far in advance should I book a campground near Milroy?
Book early and you will lock in the best campgrounds near Milroy without stress. Pennsylvania State Parks accept reservations up to 11 months in advance through the official reservation portal, and prime summer weekends at Poe Valley, Reeds Gap, and Poe Paddy often fill 4 to 6 months out, especially around the Penns Creek green drake hatch in late May and early June. Private parks like Seven Mountains Campground take direct bookings and can sometimes fit you in last minute. Pro tip: if your dates are flexible, target Sunday through Thursday arrivals, those nights stay open later and are noticeably quieter, perfect for soaking in Honey Creek's hemlock canopy.
pennsylvaniastateparks.reserveamerica.com/What are local driving conditions like around Milroy?
Driving around Milroy is mostly relaxed, but a couple of local quirks are worth knowing. US 322 is a four lane divided highway over the Seven Mountains with steady grades, totally manageable in a motorhome, just downshift on the descent toward Potters Mills. The back roads to Poe Valley and Poe Paddy turn to gravel and get narrow, so larger rigs should stick to paved approaches via PA 45 and Penns Creek Road. Winter brings snow and ice from December through March, and forest roads are not plowed. Pro tip: watch for deer at dawn and dusk in the New Lancaster Valley, Mifflin County is prime whitetail country.
511pa.com/What amenities will I find at campgrounds around Milroy?
Central PA campgrounds offer a great mix of comfort and rustic charm. Poe Valley State Park has electric sites, flush toilets, hot showers, a dump station, and potable water fills. Reeds Gap State Park keeps it simple with flush toilets, hot showers, and water near the day use areas, but no electric hookups at campsites. Seven Mountains Campground delivers water and electric at every site plus a dump station. Penn's Creek Campground is pet friendly with full amenities. Pro tip: top off freshwater in Milroy before heading to Poe Paddy, since that park has limited services and no electric hookups.
pa.gov/agencies/dcnr/recreation/where-to-go/state-parks/find-a-park/poe-valley-state-park.htmlWhat is typically included inside an RV rental in Milroy?
Most RVs on RVezy come trip ready so you can focus on the fun. Expect a full kitchen with fridge, stove, microwave, and basic cookware; a bathroom with toilet and shower; sleeping for 2 to 8 depending on the floor plan; air conditioning and furnace; and a dinette that often converts to an extra bed. Many Milroy rigs include a generator for boondocking, a TV, and seatbelted travel seats for kids. WiFi is hit or miss in the Bald Eagle State Forest, so do not count on it. Pro tip: check each listing's add ons for linens, camp chairs, and outdoor gear bundles, they save a packing headache before your Mifflin County adventure.
rvezy.com/rv-search?SearchAddress=Milroy%2C%20PennsylvaniaWhat add ons and pickup options are common with Milroy rentals?
Hosts in the Milroy area offer plenty of options to customize your trip. Popular add ons include bedding and towel kits, camp chair and table bundles, outdoor grills, generators, bike racks, kayaks for Poe Lake, and pet fees. Pickup is usually at the host's home base in Milroy, Lewistown, Burnham, or Reedsville, and many hosts offer delivery and setup directly to your campground for an extra fee. Mileage policies vary by listing, with daily allowances of 100 to 150 miles common and some hosts offering unlimited mileage. Pro tip: bundle add ons during booking, it is almost always cheaper than asking at pickup.
rvezy.com/rv-search?SearchAddress=Milroy%2C%20PennsylvaniaHow does payment and the security deposit work?
Payment is simple and secure: you pay through RVezy at booking, never directly to the host, which protects both sides. A refundable security deposit is held on your card before the trip starts and released after the host confirms the RV came back in good shape, typically within a few days of return. The deposit amount is shown on the listing before you book, so there are no surprises. To avoid issues, do a quick walk around video at pickup and dropoff with your host. Pro tip: that two minute video is the single best habit for any RV rental in Pennsylvania, it documents the condition and keeps everyone on the same page.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I rent an RV in Milroy in winter?
Yes, winter RV camping in Milroy is an underrated adventure for the right traveler. Some hosts keep four season rigs available year round with heated holding tanks, enclosed underbellies, and propane furnaces ready for Mifflin County's January lows that often dip into the teens. Seven Mountains Campground is your best bet for winter hookups, since state parks like Poe Valley and Reeds Gap close their campgrounds in late October. Use the Milroy listing filters to find winter ready RVs and confirm with the host. Pro tip: a cold weather Milroy RV trip pairs perfectly with cross country skiing the ungroomed trails at Reeds Gap when snow cooperates.
pa.gov/agencies/dcnr/recreation/where-to-go/state-parks/find-a-park/reeds-gap-state-park.html