6 Homey Campervan Rentals in Milwaukee Perfect for Any Escape

Posted by
Brittany Varano
October 14, 2022
Updated April 26, 2023

milwaukee campervan rentals
Photo: Outdoorsy

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Hit the road and conveniently venture to off-the-beaten-path destinations outside the bounds of Wisconsin’s largest city.

With a camper van rental, the world is your oyster, and you’re free to explore some of Wisconsin’s most enticing destinations. Within a couple of hours, you can easily reach Devil’s Lake State Park, one of Wisconsin’s most beautiful natural attractions that’s home to towering bluff walks and lake activities. To the north, Door County is another option that welcomes visitors with local wineries, sandy Lake Michigan shores, and small-town charm.

Or cross state lines and take your rental to exciting Midwestern spots like Michigan’s Upper Peninsula or Indiana Sand Dunes National Park, where unique landscapes allow you to disconnect in nature. Better yet, make a road trip out of it and hit up a few of these exciting spots all in one trip! Campervans are often outfitted with bathrooms, running water, and kitchenettes, so you have everything you need while living on the road. Which leaves you only to worry about where to go next.

No matter where you decide, these campervan rentals in Milwaukee are ready to be your home on wheels and promise a cozy stay while on the go.

1. Cassidy

milwaukee camper van rental
Photo: Outdoorsy

Why you should stay: A solar-powered 2015 Ford Transit made to go off-grid.

  • Sleeps: 2
  • Minimum stay: 2 nights
  • Rates start from: $220/night

Get outta dodge with the Cassidy van, a recently renovated campervan with a bohemian aesthetic. Potted plants and colorful art add a nice touch to the space making you feel right at home. Tall travelers will appreciate the interior’s high ceilings and comfy queen-sized bed. Hookups aren’t needed for this baby to function, thanks to the van’s solar panels and lithium-ion batteries. Without hookups, you’re free to camp truly anywhere and soak up far-flung locales that can be difficult to see otherwise.

It’s worth noting that this minimalistic van doesn’t have a full kitchen, toilet, or indoor shower. However, there’s plenty of storage for outdoor gear, and the van even comes with a camping table, two camp chairs, and an outdoor shower. Guests traveling with pets are more than welcome to rent the Cassidy campervan.

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Related Read: 5 Epic Campervan Rentals Near Madison, Wisconsin

2. Thor Sanctuary Camper

mercedes campervan rental milwaukee
Photo: Outdoorsy

Why you should stay: A well-appointed 2023 Mercedes Benz Sprinter, that’s easy to drive, park, and comes with Wi-Fi.

  • Sleeps: 3
  • Minimum stay: 1 night
  • Rates start from: $350/night

The Thor Sanctuary Camper is heaven on wheels and is brimming with top-notch amenities. Up front, a wide-screen navigation system on the console helps you get around with ease. The cockpit also features two swivel chairs that can be converted into a sleeping space for a third guest if needed. The van is equipped with lithium-ion batteries and a solar panel that makes it possible to camp without hookups. Included with your booking is the use of camping chairs, hammocks, and a portable Bluetooth speaker.

Pick-up or delivery is possible with this rental, and the hosts allow renters to camp out on their sprawling property 35 minutes outside of Milwaukee if desired. Guests can also conveniently rent outdoor gear with the van, like bikes, inflatable kayaks, paddle boards, and more.

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Related Read: 8 Best Camping Spots in Chequamegon-Nicolet National Forest

3. 2014 Mercedes-Benz Sprinter

sprinter campervan rental milwaukee
Photo: Outdoorsy

Why you should stay: A pet-friendly diesel van with a bike rack and 45” projector screen.

  • Sleeps: 2
  • Minimum stay: 3 nights
  • Rates start from: $250/night

Camp in style with this 2014 Mercedes-Benz Sprinter. Decked out with modern conveniences like a cell service booster, Wi-Fi, and solar power, you can stay connected even when out in the middle of nowhere. A high-capacity freshwater tank can hold 25 gallons, ensuring you have plenty of water to drink and use throughout your stay. There’s also a wet bathroom complete with a toilet and shower and a kitchenette with a sink and mini fridge.

Guests are welcomed with complimentary coffee, toiletries, and basics. The van’s back doors can be opened so you can admire the views of where you are comfortably from the plush king bed that also converts into the dining area. This rental is available for pick up in New Berlin, about 20 minutes from Milwaukee, or delivery for an additional fee.

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Related Read: 7 Enchanting Treehouse Rentals in Wisconsin

Campervan Rental Alternatives in Milwaukee

4. 2020 Winnebago Vita #1

campervan rv rental milwaukee
Photo: RV Share

Why you should stay: A compact motorhome with a retractable awning and ample storage space.

  • Sleeps: 4
  • Minimum stay: 4 nights
  • Rates start from: $278/night

Escape Milwaukee in this 24-foot long 2020 Winnebago Vita #1, a motorhome owned by attentive and thoughtful hosts. Some important specs of this Winnebago is that it features electric service of 30 amp, an electric generator, and hot and cold water. In the kitchen area, two plush recliner chairs make for a comfortable place to enjoy dinner while watching T.V.

The kitchen is also equipped with a medium fridge, stovetop, and sink. When nighttime falls, there’s no need to make the bed as this motorhome features a separate sleeping and dining space. Above the cockpit, another sleeping area allows for two more adults. Other convenient amenities include ample storage and a large bike rack that can hold up to four bikes. Additionally, with your booking, drivers enjoy 24/7 roadside assistance in case of an emergency.

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Related Read: The 9 Best Things To Do In Lake Geneva In Winter

5. 2020 Winnebago Vita #2

winnebago rv rental milwaukee
Photo: RV Share

Why you should stay: A clean R.V. maintained by responsive hosts who provide an orientation for new drivers.

  • Sleeps: 4
  • Minimum stay: 4 nights
  • Rates start from: $278/night

This 2020 Winnebago Vita #2 is an excellent rental for those new to driving motorhomes. At pick-up, the hosts run through every necessary detail to ensure you feel comfortable on the road. Once you’ve learned the ropes, you’re free to enjoy the motorhome’s features, like ample sleeping space, tall ceilings, and a T.V. In the fully equipped kitchen, there’s everything you need to prepare home-cooked meals, including a sink-topper that helps create more counter space. Outside, an awning provides shade as you relax in the provided camp chairs.

Guest Kimberly shares, “These renters are amazing. They have literally thought of every single thing you’ll need when on the road. Their customer service is literally 24/7 and they couldn’t be nicer about answering questions while you’re out there. Their orientation is extremely thorough.”

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6. Painted Desert

retro campervan rental milwaukee
Photo: Airbnb

Why you should stay: A stationary ‘70s GMC motorhome permanently parked in Bayview that oozes a cozy and retro flair.

  • Sleeps: 2
  • Minimum stay: 1 night
  • Rates start from: $80/night

Rather than deal with driving and parking, the Painted Desert offers a campervan meets glamping experience in Milwaukee. Although this unique Airbnb isn’t drivable, it’s parked in an artsy neighborhood where excellent bars and restaurants are within walking distance. Top attractions like Lake Michigan, the Historic Third Ward, and Milwaukee’s buzzing beer scene also ensure you have plenty to do during your visit.

When you’re relaxing at the motorhome, there are books, games, and a nice campfire in the private yard for you to enjoy. Inside, the van features a kitchenette, dining area, and private full-sized bed. The front has been converted into a charming reading nook where you can chill and sip a cup of complimentary coffee or tea. Guests also have access to a clean, private indoor bathroom just feet from the motorhome.

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