The best RV rentals in Milwaukee, WI

If you're driving your motorhome rental into the city, it's best to plan your route before you hit the road, as Milwaukee's roadways get a bit complex near the city center. You may find parking in lots near the lake; however, the downtown area and surrounding neighborhoods offer mostly on-street spots. Ultimately, accessing the city with an RV may be a challenge, so if you can get there by other means, do it.

For some family-friendly fun in Milwaukee, make a beeline for Discovery World. This fantastic science-themed museum features fantastic interactive exhibits for kids of all ages. The energy and education don't have to end when the tour is over either, since Lakeshore State Park, on Lake Michigan, has a fishing pier and a marina, perfect for water lovers to spend the rest of the day.

To get a little insight into the region's culture and history, take a tour of the Milwaukee Public Museum. Then, go back in time with a stroll through the 19th-century Streets of Old Milwaukee exhibit and dial things back further with a stop by the Hebior Mammoth skeleton display. The museum also features a planetarium with scheduled shows open to museum guests and a theater that regularly hosts performances.

Don't leave Milwaukee without a stop by the city's Historic Third Ward. This vibrant, culture-packed neighborhood is brimming with unique boutiques, diverse eateries, and the bustling Milwaukee Public Market, filled with fresh food, artisan crafts, and coffee shops. Grab some goods, walk the streets, and then wrap up your visit with a sight-seeing stroll to view some of the ward's historical buildings.

On top of its well-earned reputation for beers, brats, and baseball, Milwaukee has a lot to offer, making it a great destination to consider for your next RV camping trip.

Looking for a place to camp near Milwaukee? You'll find several options surrounding the city.

Drive your Milwaukee RV rental 20 miles south of the city, and you can park in one of the peaceful campsites at Cliffside Park. Spots are available with full or partial hookups with 20/30/50-amp electricity. Amenities include restrooms, showers, a dump station, and two playgrounds for kids to enjoy. Campers can also use the park's shelters for picnics and small gatherings.

Looking for fun for the whole family? Consider setting up camp at one of the sites at Country View Campground. RV campsites come with full or partial hookups, and facilities include restrooms, showers, and laundry machines. When it comes to on-site activities, this Milwaukee RV campground doesn't disappoint. Kids will love the petting zoo, heated swimming pool, and Saturday night hayrides, and adults can practice their skills at the sand volleyball court.

To experience some of Lake Michigan's best views, drive your motorhome 30 minutes north of Milwaukee and settle into a campsite at Harrington Beach State Park. This 700-acre natural space feels worlds away from the urban bustle and offers spacious, private sites that can accommodate most rigs. Campsites here come with electrical hookups, and potable water is provided nearby. Campers can explore the park's miles of trails, stroll the isolated sandy lakeshore, or head out on the water for kayaking, fishing, or swimming.