22 RVs for rent in Milford, PA
Class C in Pine-Bush
2017 • 3.8 (1)
$249 USD /night
Class A in Pine-Bush
2022 • 3.6 (4)
$295 USD /night
SuperhostClass C in Valhalla
2025 • 5.0 (16)
$189 USD /night
Class C in Staten-Island
2020 • 4.8 (1)
$360 USD /night
Class B in Walden
2017 • 4.9 (6)
$235 USD /night
Class C in Clarks-Summit
2023 • New listing
$299 USD /night
What are motorhomes?
A motorhome is a drivable RV with an engine. Most motorhomes are 18 to 45 feet long and weigh between 10,000 and 30,000 pounds. Motorhomes are great for road trips and family vacations because they are typically self-contained, which means they have a kitchen, bathroom, and sleeping and living space all under one roof. Depending on their size, driving a motorhome can be easy or challenging, so knowing where you plan to drive and park before choosing the best motorhome for your journey is essential.
Milford Motorhome rental: How it works
22 RVs for rent in Milford, from $189 a night. Pick one up yourself, or have the owner deliver it and set it up at any of 52 campgrounds near Milford, 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 Milford, 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.
Milford RV rental reviews - 4.8 out of 5 from 128 renters
5.0
2025 Forest River Class CIt was a great experience, Nick provided with detailed videos prior to the trip and we were pleased with the cleanliness and all the features. All the utensils provided , comfortable beds. It was our first time using RV but would definitely consider in the future !
Tetyana UsovaKochuashviliSep 2026
5.0
2008 Dodge Class BEDGAR DID NOT DISAPPOINT!!! My family and I had a blast at our family reunion - Everyone also loved it!!! Booking was super easy and would definitely recommend booking Edgar for your next trip!!!
JA
JONATHAN AVILAJul 2026
5.0
2011 Thor Motor Coach Class AExperience was great easy to work with explain to me everything
SS
Sruly StrohJul 2026
5.0
2021 Coachmen Class CGreat trip, about 2500 miles with no issues at all. Great communication.
SS
Sergio SantosApr 2026
5.0
2017 Forest River Class BGreat rental, recommended
Erik DeitzMay 2025
5.0
2022 Thor Motor Coach Class AGreat RV and great host, very clean and helped set up RV with requested delivery, very good communication.
CS
Chabie SeerajAug 2024
5.0
2013 Airstream Class BBrian is an excellent host, very honest, flexible and helpful when dealing with the rental overall. The van is in great shape for its age, fuel efficient and nice to drive.
Francois GalandMay 2024
4.8
2019 Fleetwood Class AIt was all good, thank you!
LB
Lauren BoyerAug 2025
Motorhome rental information
Renting a motorhome can cost anywhere from $100 to $600 per night, depending on the RV's size, age, and amenities. A motorhome's fuel efficiency varies and averages 8 to 15 miles per gallon. When renting a motorhome, it's important to understand how things work. Your RVezy host will walk you through the basic operations and help you feel comfortable using the black tanks (waste), gray tanks (dirty water), slide outs, and other functions to ensure a smooth and enjoyable experience. Other considerations when renting a motorhome include familiarizing yourself with local RV park regulations and planning your route to accommodate the motorhome's size and height limitations. With proper planning and preparation, a motorhome rental can offer a unique and memorable vacation experience.
Best National Parks near Milford, PA
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Popular State Parks near Milford, PA
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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 52 campgrounds near Milford, 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
River Beach Campsites on the Delaware-Kittatinny CanoesTri-State RV ParkDingmans CampgroundSun Retreats Pleasant Acres FarmKymers Camping ResortKOA Holiday Deerpark New York CityKittatinny's K-Camp CampgroundKittatinny CampgroundsOakland Valley CampgroundSwartswood State Park
Search campgroundsMotorhome rentals near Milford, PA
Walden, NY36 miles awayJersey City, NJ58 miles awayAllentown, PA61 miles awayAudubon, PA89 miles awayWaterbury, CT93 miles awayPhiladelphia, PA97 miles awayNew Haven, CT98 miles awayAlbany, NY107 miles awayHartford, CT115 miles awayHarrisburg, PA132 miles awayBaltimore, MD170 miles awayAshton-Sandy Spring, MD191 miles away
Browse by make
Frequently asked questions about renting a motorhome in Milford, PA
How does renting a motorhome in Milford, PA work?
RVezy connects local motorhome owners in Milford, PA with travelers looking for adventure. From secure payments and verified profiles to insurance and roadside assistance, RVezy handles all the details so you can focus on the fun part: hitting the open road!
How much does it cost to rent a motorhome in Milford, PA?
The average motorhome rental near Milford, PA starts at around $321/night, depending on the size, features, and season. Many hosts offer weekly or monthly discounts between 10%–20%, so the longer you travel, the more you save.
What’s included in my motorhome rental in Milford, PA?
Many motorhomes on RVezy comes with the essentials you need for a smooth getaway, including cookware, utensils, bedding and even camping gear. Many hosts go the extra mile with outdoor chairs, BBQs, or add-ons like generators. Each listing clearly shows what’s included.
How far can I go with the motorhome rental in Milford, PA? What’s the mileage policy?
Most motorhome owners near Milford, PA include generous mileage or even offer unlimited kilometers per trip. If there are distance limits, you’ll see them upfront in your booking details, along with any optional mileage add-ons.
Do I need a special license to drive motorhome in Milford, PA?
To rent in Milford, PA, drivers typically need a valid unrestricted license and a clean insurance record. For most motorhomes, a standard license is all you need — no special license required. Always confirm with your host before booking.
Can I rent a motorhome for a one-way trip from Milford, PA?
Most rentals on RVezy are round-trip, meaning you’ll return the motorhome to the same location where you picked it up. However, some hosts in Milford, PA may be open to one-way trips or delivery to another city if arranged in advance. Message the host directly to ask about one-way travel options before booking.
Is insurance included when renting a motorhome in Milford, PA?
Every motorhome rental includes comprehensive insurance coverage and 24/7 roadside assistance. That means protection for both you and the vehicle, so you can travel confidently knowing you’re covered no matter where the road takes you.
Are motorhomes in Milford, PA pet-friendly?
Many motorhome owners near Milford, PA welcome pets. You can filter by Pet-Friendly when searching to find the perfect RV for you and your furry co-pilot.
Can the motorhome be delivered near Milford, PA?
Delivery is one of the most convenient features on RVezy. Whether it’s your driveway, a local campground, or a festival site near Milford, PA, many hosts offer to deliver and set up the motorhome right at your chosen location. It’s perfect if you’d rather skip the driving and start relaxing!
What's the best time of year to rent a motorhome in Milford, PA?
The best time to rent a motorhome in Milford, PA depends on the season and what kind of trip you’re planning. Peak RV season runs from May through October, when the weather is warm and campgrounds are open. Spring and fall are great times to find lower prices and fewer crowds, especially for motorhome getaways close to home.
How far in advance should I book my motorhome trip in Milford, PA?
During peak summer months, the most popular motorhomes in Milford, PA can book out two to three months in advance, so it’s best to book your motorhome as early as possible! Last-minute rentals are often available, but booking early gives you more choices, better prices, and time to coordinate pickup or delivery with your host.
Have more questions about your motorhome rental in Milford, PA?
RVezy’s friendly customer support team is available before, during, and after your trip to help with anything you need for your RV rental in Milford, PA. You can reach us anytime at help.rvezy.com or contact us here: https://help.rvezy.com/hc/en-us/requests/new.