Palmyra, PA RV Rentals and Motorhome Rentals

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Discover Palmyra, PA


Originally inhabited by the Lenape and Susquehannock tribes, Palmyra, Pennsylvania was settled by Scotch-Irish and German Palatinate migrants in the early 18th century. A post office was established in 1804, with the name of Palmyra (after the Roman outpost in Syria) becoming official by 1810.

Palmyra developed following the completion of the Union Canal in 1827 before the Age of Steam arrived with the Lebanon Valley Railroad in 1857. But it was in the post-Civil War years that it really flourished with a grain warehouse, a slaughterhouse, and a lumber mill bringing industry to the town.

Today, Palmyra is a charismatic place to rent an RV and base yourself while exploring the sights of Lebanon County. It’s within easy access of scenic reserves and the military history of Fort Indiantown Gap, as well as the family-friendly attractions of Hersheypark.

The Great Outdoors

Pick up your campervan rental in Palmyra and drive into Lebanon to spend an afternoon on the shores of Stoever’s Dam. Aside from the 23-acre lake that can be explored by boat, there are also interpretive trails and softball fields where you can get some exercise. Stop in at the historic Nature Barn to learn about the native flora and fauna of the region, then relax over lunch at one of the park’s picnic tables.

If you’re a keen angler, head north to the Memorial Lake State Park, which is well stocked with northern pike, yellow perch, and a variety of bass. It’s surrounded by the military reservation at Fort Indiantown Gap and was established in 1945 to remember the Pennsylvania National Guard soldiers who served in the World Wars. If you’re not into fishing, you can explore one of the surrounding trails or visit during the winter months when ice skating and cross-country skiing are on offer.

Continue north, and you’ll arrive at the Swatara State Park, which nestles between the picturesque Second and Blue Mountains. You can follow part of the Appalachian Trail that extends through the rolling fields and woodlands at the southern end of the park or rent a canoe to slowly paddle down the Swatara Creek. The park is also home to the Swatara Rail Trail that extends 10 miles along the western banks of the Swatara Creek, passing remnants of the Union Canal and the Lebanon–Tremont Branch of the Reading Railroad.

RV Parks

Book a travel trailer rental in Palmyra and head west to the Hershey RV & Camping Resort, a family-friendly RV destination on 200 acres of farmland. Recreational facilities include a swimming pool, mini-golf course, and a playground, not to mention a hot tub where adults can relax at the end of the day.

Another nearby option is the Jonestown / Hershey NE KOA Journey, which could be a good option if you’re traveling with a big rig. They offer a range of level pull-through and full hookup sites overlooking the Swatara Creek and with direct access to the hiking and biking trails of the adjacent Swatara State Park.

Or, head to Manheim and the PA Dutch Country RV Resort, which offers a good selection of three-point hookups and an on-site store where you can grab any basic supplies. This pet-friendly RV park also has a swimming pool where you can cool off during the summer months and a children’s playground, as well as a mini-golf course.

Exploring the City

Park your RV rental near Palmyra and head out to explore on foot, visiting the historic factory of the Landis Shoe Company Building. Built in 1905, the imposing brick building is designed over three stories and was added to the National Register of Historic Places in 1980. It’s just a short stroll from the whitewashed Palmyra United Christian Church and the main street of Palmyra, which is lined with retail stores and restaurants.

Traveling with kids? Spend a day enjoying the rides, entertainment, and attractions of Hersheypark, which is just 15 minutes’ drive southwest of Palmyra. It’s home to a range of thrilling roller coasters and kid-friendly rides, as well as the Zoo America where you can get up close to a variety of native species. If you’ve got chocolate lovers in the family, don’t miss a visit to Hershey’s Chocolate World to embark on its chocolate tour and create your very own candy bar.

History buffs should spend a day wandering the streets of Lebanon, which is home to numerous buildings that have been listed on the National Register of Historic Places. Visit the Second Empire-style Josiah Funck Mansion and the 18th-century Chestnut Street Log House, then admire the eclectic Victorian architecture of the Cornwall & Lebanon Railroad Station. Or, drive north to Fort Indiantown Gap to visit the Pennsylvania National Guard Military Museum where artifacts and weapons dating from the Civil War to the Gulf War are on display.

Palmyra is home to a couple of supermarkets where you can stock up on groceries and numerous fast-food restaurants and eateries for dining out. There are also gas stations if you want to fill up your camper rental in Palmyra.

Whether you’re visiting Lebanon County for its historic architecture or amusement parks, book an RV in Palmyra and start your next adventure.

RV Rentals in Palmyra, PA

Palmyra, PA is the perfect spot to start your next road trip.

There are many popular rentals in Palmyra. Outdoorsy's Palmyra RV rental marketplace allows renters to choose from rental options from professional RV rental agencies as well as RVs for rent by owner.

RV and Motorhome Rentals Nearby

Nearby to Palmyra are a number of National, State and Local parks. Travelers can easily rent RVs and motorhomes near Shenandoah National Park, Delaware Water Gap National Recreation Area, Hudson Highands State Park, Harpers Ferry National Historical Park, and Great Falls Park.

What's around Palmyra, PA


Check out local hikes, campgrounds, parks and more!

Local Hiking Trails

Hiking Trail City State
Glen Onoko Falls Trail Jim Thorpe Pennsylvania
Annapolis Rock Trail Boonsboro Maryland
Scott's Run Nature Preserve Trail McLean Virginia
Mount Tammany - Red Dot and Blue Dot Loop Trail Columbia New Jersey
The Pinnacle Trail Loop Hamburg Pennsylvania
Maryland Heights Loop Harpers Ferry West Virginia
Sugarloaf Mountain and Northern Peaks Trail Dickerson Maryland
Billy Goat Trail Loop Potomac Maryland
Wissahickon Creek Gorge Loop Trail Philadelphia Pennsylvania
Avalon Loop Trail Baltimore Maryland

Nearby Campgrounds

Lake-In-Wood Campground

campground Narvon, PA
Follow the gnomes to find the beautifully quirky Lake-in-Woods Resort, an enchanted forest oasis not 15 miles south of Reading. Nature preserves and parks nearby seem to be in on the fun, with names like Nolde Forest and Flying Hills. Bring your tent and enjoy a rustic campsite, or bring the home on wheels. The site can accommodate even big rigs, and water, sewer, and electrical hookups are available. There?s also free WiFi in the park for those that want to stay connected, and a gift shop, grocery store, and restaurant if you want to shop and eat. The real draw here are the creative cabins, which are built in an array of different styles. These include, but are not limited to, frontier log cabins, oversize yurts, a covered wagon, and, of course, gnome homes. Features at the park that you would expect at a resort include both indoor and outdoor heated pools, mini-golf courses, two playgrounds, and several sports facilities.

Blue Rocks Family Campground

campground Lenhartsville, PA
Blue Rocks is a rustic fun-filled environment for everyone. Blue Rocks consists of 125 acres of oaks and pines with mountain streams flowing freely throughout the park. You'll find our awe-inspiring Blue Rocks glacier deposit astonishing.The formation occurred during the last ice age and has been dated to be as old as 350 million years. The formation covers 15 acres and is said to have a stream that still runs beneath the field. Although Blue Rocks caters to hikers and tenters, they do offer a wide choice of tent and RV sites in both open and wooded settings.With hookups for water, electric, and sewer, these sites are perfect for transient or seasonal RVers who want the basic comforts of home while enjoying the peaceful serenity of the outdoors. Topped off with our breathtaking Blue Rocks boulder field that gives our camp its name, Blue Rocks Family Campground is truly the definition of an amazing outdoor Pennsylvania experience.

Old Mill Stream Campground

campground Lancaster, PA
Old Mill Stream Campground is tucked away next to a stream in Lancaster, Pennsylvania. It is 15 acres in size and is the perfect place to go if you want to explore Lancaster County. The park has both partial and full hookups, WiFi, laundry facilities, restrooms, a playground, and a country store. If you plan to spend a day at the park, there is plenty to do to keep you entertained. The park has a games room, half court basketball, horseshoes, and a GaGa Ball Pit. Right next door to the park, you will find the Dutch Wonderland Family Amusement Park. Old Mill Stream Campground will get you discounted tickets for the Amusement Park. Lancaster County is an area which is steeped in history, so make sure that you get a chance to go out and about. There are tours to the Amish Community, which will open your eyes to a whole new world. If you enjoy a tipple, why not visit one of Lancaster's craft breweries, or take a wine tasting tour? There is so much to see here that you will want to come back.

Nearby Parks