25 RVs for rent in Grafton, WI
Class A in Slinger
2018 • 3.9 (2)
$225 USD /night
SuperhostTravel Trailer in West-Bend
2021 • 4.8 (2)
$135 USD /night
Instant BookTravel Trailer in Muskego
2017 • 5.0 (3)
$130 USD /night
Micro Trailer in Milwaukee
2021 • 5.0 (1)
$100 USD /night
Delivery onlyTravel Trailer in Delafield
2022 • 5.0 (2)
$150 USD /night
SuperhostTravel Trailer in Waterford
2024 • 5.0 (9)
$140 USD /night
Grafton RV rental: How it works
25 RVs for rent in Grafton, from $90 a night. Pick one up yourself, or have the owner deliver it and set it up at any of 9 campgrounds near Grafton, WI. 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 Grafton, WI 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.
Grafton RV rental reviews - 4.8 out of 5 from 138 renters
2021 Gulf Stream Travel Trailer
We were in need of a small camper trailer for the Indy Car race at Milwaukee. This was a last minute need, and Lena’s Vintage Cruiser was a perfect choice. Everyone in our camp group loved the vintage decor. Lena delivered on time, set up quickly, clean & contained everything required for camping. Lena is an extremely pleasant hostess, a nice machine.
RW
Rodger WardSep 2026
2021 Gulf Stream Travel Trailer
All good. Nice experience
RG
Rusty GroscurthAug 2026
2021 Dutchmen Travel Trailer
James was excellent. We enjoyed our time and would definitely consider renting from him again in the future!
JH
James HishmehAug 2026
2021 Gulf Stream Travel Trailer
Lena was so responsive and helpful with our experience, it helped to know if we forgot something that it was there already for us!
Kristina GemollAug 2026
2024 Venture RV Travel Trailer
Excellent experience from start to finish! Danielle and Jordan were super friendly, helpful, and flexible. The camper was perfect and had plenty of room for our family of four. Great people and a great camper!
Lindsay DeStefanisJul 2026
2025 Forest River Travel Trailer
Thank you Danielle and Jordan for the use of your beautiful camper! It was very comfortable. Very clean. And it was lovely that I could bring my doggie along. Amazing communication. Thanks again!
Margaret SierSep 2025
2021 Gulf Stream Travel Trailer
Lena was quick and communication and checked in to make sure things were going good! Very friendly and helpful. Would for sure rent from her again - the RV was perfect and exactly as described!
Lauren BransonJul 2025
2020 Jayco Class C
Can't say enough good things about Scott. When you rent from someone else, you want to feel confident that you're getting what you asked for and will have help/support if needed. Its not just that Scott was good when things were good, its how awesome he was whenever there was an issue or question that really sets him above all others in our book. Not only did he jump in to help us when our original host cancelled last minute, but when we had an early issue he immediately took action to help and personally came to check and make sure it was resolved properly. Amazing, caring host and we would definitely book with him again for future RV needs.
Sean OyerSep 2024
2024 East to West Travel Trailer
Very clean and nice RV. Host was friendly and flexible with pick up/drop off times. Would rent from again.
NS
Nick SmithJul 2024
RV friendly events in Grafton, WI
EAA AirVenture Oshkosh
Feel the rumble of radial engines and the buzz of Oshkosh in late July, when Wittman Regional Airport becomes the center of the flying world. EAA AirVenture Oshkosh blends massive airshow formations, hands-on workshops, and a friendly camping culture that welcomes RV travelers. Roll in with an RV from RVezy and turn the week into a front-row base camp: your kitchen, your schedule, and room to decompress after hours of walking the flightline.
Country Thunder Wisconsin
Feel the bass roll across the bowl as the sun drops over the water. Country Thunder Wisconsin brings national country acts to Twin Lakes for a long summer weekend of music, camping culture, and friends you have not met yet. Roll in with an RV and turn the festival into a full vacation: your kitchen for midnight snacks, a quiet place to recharge between sets, and the freedom to explore Lake Geneva country when you want a slower morning.
Best National Parks near Grafton, WI
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Popular State Parks near Grafton, WI
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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 9 campgrounds near Grafton, WI
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
Lazy Days CampgroundLake Lenwood Beach and CampgroundHarrington Beach State ParkTimber Trail CampgroundHager's Hilly Haven CampgroundHoeft's Resort and CampgroundKohler-Andrae State ParkFond du Lac East/Kettle Moraine KOAPlymouth Rock Camping ResortYogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Search campgroundsRV rentals near Grafton, WI
Milwaukee, WI20 miles awayMount Pleasant, WI41 miles awayWaterford, WI41 miles awayMadison, WI75 miles awayHoward, WI87 miles awayElk Grove Village, IL91 miles awayAddison, IL96 miles awayChicago, IL101 miles awayBatavia, IL104 miles awayHudsonville, MI110 miles awaySugar Grove, IL111 miles awayWalker, MI113 miles awayGrand Rapids, MI118 miles awayMerrillville, IN131 miles awayFort Wayne, IN212 miles away
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Frequently asked questions about renting an RV in Grafton, WI
How much does it cost to rent an RV in Grafton, WI?
An RV rental in Grafton, WI is an affordable way to explore Lake Michigan's shoreline. On RVezy, travel trailers typically run $80 to $175 per night, Class C motorhomes average $175 to $275, and larger Class A rigs land between $250 and $400 in peak summer. Shoulder-season trips in May or late September often save 20 to 30 percent, and weekday bookings beat weekend rates. For a cheap RV rental Grafton travelers love, filter by travel trailers with delivery included so you skip towing and fuel. Pro tip: book by early March to lock in Memorial Day and Independence Day weekends before Milwaukee-area demand spikes.
rvezy.com/rv-search?SearchAddress=Grafton%2C%20WisconsinDo I need a special license to rent an RV in Grafton?
Great news for first-time renters: a regular driver's license is all you need to rent an RV in Grafton, WI. Wisconsin only requires a Commercial Driver License (CDL) for recreational vehicles longer than 45 feet, and virtually every RV on RVezy falls well under that. You must be 25 or older with a valid license, and RVezy verifies your ID securely through the platform during booking. Visiting from outside the US? Bring your home-country license plus an International Driving Permit (IDP). Most Grafton renters are surprised at how simple this step is, leaving you free to focus on planning your Lake Michigan getaway.
wisconsindot.gov/Pages/dmv/com-drv-vehs/rqts-for-cdl/cdl-requirements.aspxWhat protection and roadside coverage comes with my Grafton RV rental?
You can book with confidence: every RV rental in Grafton, WI includes an RVezy renter protection plan plus 24/7 roadside assistance. The protection plan covers most damage to the vehicle during your trip, so a stray branch on a Kettle Moraine forest road or a minor mishap at the dump station won't derail your vacation. You choose the level of coverage that fits your comfort during checkout (this is set by RVezy, not the host). If a tire blows on I-43 heading to Harrington Beach, one phone call gets help dispatched. That peace of mind is built right in.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if my plans change after I book an RV in Grafton?
Booking is low-risk: RVezy applies a standard cancellation policy on every reservation, including a full money-back grace period right after you book. That's especially handy in southeastern Wisconsin, where a Lake Michigan storm system or last-minute schedule shift can pop up. Cancellation terms depend on how far out your trip is, so the earlier you cancel the more flexibility you have. Cancellation is handled by RVezy, not the individual host, so the process is consistent no matter which Grafton RV you pick. Book early to lock in your dates, knowing you have a safety net if life happens.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Grafton RV trip?
Absolutely, and your pup will love it. Use the Pet-Friendly filter on RVezy to find a pet-friendly RV rental Grafton hosts are happy to share with four-legged guests. Once you're on the road, Harrington Beach State Park (about 15 minutes north in Belgium) allows leashed pets on most trails and at the pet swim area on the south end of the beach, and Lion's Den Gorge Nature Preserve in nearby Grafton welcomes leashed dogs on its bluff-top trails. Always confirm pet rules in the host's listing and message them with your dog's size. Pro tip: pack a towel for sandy Lake Michigan paws before re-entering the RV.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreationCan the RV be delivered to my campsite in Grafton?
Yes, RV delivery Grafton is one of the most popular options on RVezy, especially for first-time renters. Many local hosts will tow or drive the RV directly to Harrington Beach State Park, Kohler-Andrae State Park, or even a private driveway in Ozaukee County, level it, hook up power and water, and walk you through every system before they leave. That means no towing stress and no learning curve on I-43. Delivery fees usually run $2 to $4 per mile from the host's location. Filter for Delivery on the listing page, and message your host with your campsite number to confirm the drop-off plan.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingHow far can I drive on a Grafton RV rental?
You've got plenty of room to roam. Most Grafton hosts include 100 to 150 free miles per night, and some offer an RV rental with unlimited mileage, perfect for longer loops. From Grafton you're 25 miles south to downtown Milwaukee, 60 miles north to Sheboygan and Kohler-Andrae State Park, about 95 miles to Madison, 140 miles north to Door County's Sturgeon Bay, and 90 miles south to Chicago. Extra miles typically cost $0.30 to $0.45 each if you exceed the included allowance. Pro tip: if you're planning a multi-state Wisconsin RV trip, message hosts before booking and ask for an unlimited-mileage package.
wisconsindot.gov/Pages/travel/road/default.aspxWhere should I camp near Grafton, WI?
You're spoiled for choice for RV camping Grafton. Best campgrounds near Grafton include: Harrington Beach State Park in Belgium (15 minutes north, 69 sites with 31 electric hookups, a dump station, and a mile of Lake Michigan beach); Kohler-Andrae State Park in Sheboygan (about 50 minutes north, electric sites with dunes and a nature center); Wagon Wheel Campground in Saukville (10 minutes away, full hookups and family-friendly); Timber Trail Campground in Port Washington (15 minutes, wooded sites under maples); and Sun Retreats Milwaukee North (just south, full-service). Book Wisconsin state parks 11 months ahead through ReserveAmerica, especially for summer weekends.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingWhen is the best time of year for an RV trip from Grafton?
Late May through early October is prime time for any Grafton, WI RV trip. June through August brings warm Lake Michigan air (highs 75 to 82°F, lows in the low 60s) and the busiest campground season. September is a local favorite: daytime highs in the mid-60s to low 70s, fewer crowds, and the start of fall color along the Kettle Moraine. Harrington Beach State Park's campground is open from the first Wednesday in May through October. Insider tip: aim for the second or third weekend of September for empty beaches, open campsites, and Milwaukee Oktoberfest just down the road in Cedarburg.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingCan I rent an RV in Grafton in winter?
Yes, winter RVing in Wisconsin is a fun adventure if you plan smart. Some Grafton hosts list rigs year-round with heated holding tanks, enclosed underbellies, and dual-pane windows, perfect for ice fishing on Lake Winnebago or a snowy escape to the Kettle Moraine State Forest. Expect overnight lows from 10°F to 25°F December through February. Most state-park campgrounds close to RV camping in winter, so plan to stay at private parks with shore power or boondock with full self-contained capability. Message hosts directly about four-season packages and skirting to keep pipes safe.
dnr.wisconsin.gov/topic/parksI've never driven an RV before. Will I be okay?
Yes, you absolutely will. First time renting an RV in Grafton, WI? You're in good company, and the area's flat-to-gently-rolling terrain along Highway 32 and County Road C is one of the most beginner-friendly driving environments in the Midwest. Every RVezy host gives you a hands-on orientation at pickup, walking you through driving, leveling, propane, slide-outs, and dumping. You can also message your host before booking with any nerves you have. Pro tip: pick a Class C motorhome or smaller travel trailer for your first rental and book a Harrington Beach site you can reach by avoiding downtown Milwaukee traffic, an easy 20-minute drive straight up I-43.
wisconsindot.gov/Pages/travel/default.aspxWhat happens if something goes wrong on the road?
Help is always a phone call away. Every booking on RVezy includes 24/7 roadside assistance covering flat tires, dead batteries, lockouts, fuel delivery, and towing if needed, anywhere on your route from Grafton to Door County or down to Chicago. If a slide-out won't retract or the fridge quits, message your host directly through the RVezy app, they know the rig and can usually troubleshoot in minutes. RVezy's customer support team is also available before, during, and after your trip. Keep your host's number saved in your phone and you'll be back to enjoying your motorhome rental Grafton getaway in no time.
wisconsindot.gov/Pages/travel/road/511.aspxCan I take my Grafton RV rental across state lines or into Canada?
Yes to both, with a quick conversation. An RV road trip from Grafton commonly crosses into Illinois (Chicago is 90 minutes south), Minnesota, Michigan's Upper Peninsula via US-2, or up to Door County. Travel into Canada (think Thunder Bay or the north shore of Lake Superior) is allowed by many hosts as long as you confirm in advance, since insurance and coverage need to be verified for cross-border trips. Travel to Mexico is not permitted on RVezy rentals. Message your host before booking with your route, and bring a passport or enhanced ID for any Canadian crossing. Popular routes include Grafton to Mackinac Island and Grafton to Minneapolis via I-94.
cbp.gov/travel/us-citizens/western-hemisphere-travel-initiativeHow much should I budget for fuel on a Grafton RV trip?
Fuel is easy to plan for. Wisconsin gas prices typically run around $3.10 to $3.50 per gallon, with diesel slightly higher. Class B campervans average 18 to 22 miles per gallon (MPG), Class C motorhomes get 8 to 12 MPG, and Class A rigs land around 7 to 10 MPG. A weekend round-trip from Grafton to Door County (about 280 miles) in a Class C usually costs $80 to $110 in fuel. Pro tip: fill up at the Kwik Trip on Wisconsin Avenue in Grafton before you leave town, prices in tourist hubs like Egg Harbor can run 30 cents higher per gallon.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Grafton?
For Wisconsin state parks, book 11 months ahead, that's the maximum window. Harrington Beach, Kohler-Andrae, and Kettle Moraine State Forest sites open exactly 11 months from your check-in date on the Wisconsin DNR reservation system through ReserveAmerica (or call 888-947-2757). Summer weekends and Independence Day fill within minutes of opening. Private parks like Wagon Wheel and Timber Trail typically need 2 to 4 months of lead time for peak weekends. Pro tip: if you missed the booking window, check the DNR site on Sunday evenings for cancellation releases, sites pop up regularly even in July.
dnr.wisconsin.gov/topic/parks/reservationsWhat are local driving conditions like around Grafton?
Driving in and around Grafton is genuinely relaxed. I-43 runs straight through town with wide lanes, generous shoulders, and gentle grades, ideal for any size RV. Highway 32 (the old Lake Michigan shoreline route) is a scenic alternative with light traffic. Watch for two local quirks: deer crossings are common at dawn and dusk along County Highway C, and lake-effect snow squalls can pop up November through March. Avoid driving a larger Class A into downtown Cedarburg's historic district, where streets narrow and parking is tight. Insider tip: use the I-43 Port Washington exit (Exit 96) rather than downtown Milwaukee exits if you're heading north with a big rig.
wisconsindot.gov/Pages/travel/road/511.aspxWhat amenities will I find at campgrounds near Grafton?
You'll have everything you need close at hand. Harrington Beach State Park offers 50-amp electric hookups at 31 of its 69 sites, hot showers, flush toilets, a trailer dump station, and a fresh-water fill-up station near the campground entrance, exactly what most RV renters need. Kohler-Andrae adds laundry facilities and a nature center. Wisconsin state parks generally don't offer per-site water or sewer, so plan to fill at arrival and dump on departure. Private parks like Wagon Wheel Campground have full hookups including sewer. Pro tip: top off fresh water before leaving the host's driveway in Grafton, since many state-park fill stations have lower water pressure.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingWhat's actually inside the RVs I can rent in Grafton?
More than you'd expect. A typical campervan rental Grafton or motorhome rental Grafton comes fully equipped: real beds (queen or king in most Class Cs), a kitchen with fridge, stove, microwave, and cookware, an indoor bathroom with shower, climate-controlled heating and air conditioning, and seatbelted seating for 4 to 7 travelers. Many include a TV, Bluetooth stereo, outdoor awning, and a generator or solar for off-grid power. Wi-Fi varies, some hosts include a mobile hotspot, others recommend you bring your own. Each listing's amenities section spells out exactly what's included, and you can message the host with specific questions before booking.
nps.gov/articles/rving-basics.htmWhat add-ons can I get, and how does pickup work in Grafton?
Hosts make it easy to personalize your trip. Common add-ons for an RV rental in Grafton, WI include bedding and linen packages ($25 to $75), kitchen kits ($25 to $50), camp chairs and tables, bikes, kayaks, generators, and propane refills. Pickup usually happens at the host's home in Grafton, Cedarburg, Saukville, or Mequon between 1 and 4 PM, with a 30 to 60 minute walkthrough covering every system. Drop-off is typically by 11 AM. Mileage and generator policies vary by listing, so review the listing details and confirm specifics with your host before booking.
rvezy.com/rv-search?SearchAddress=Grafton%2C%20WisconsinHow do payments and security deposits work on RVezy?
Payment is straightforward and secure. You pay through RVezy's platform with a credit or debit card, never directly to the host, which keeps your money protected. A security deposit (typically $500 to $1,500 depending on the RV) is placed as a temporary hold on your card a few days before pickup and released within 7 days of return, assuming no damage or excess cleaning. To avoid any holds being kept, return the RV on time, refilled with fuel and propane, with tanks dumped as agreed in the listing. Pro tip: take date-stamped photos at pickup and return, it makes any deposit conversation effortless.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-works