Pennsylvania is a paradise for RV enthusiasts. From rolling mountain highways and vast state forests to historic Dutch country and deep river gorges, the Keystone State offers an…
Pennsylvania is a paradise for RV enthusiasts. From rolling mountain highways and vast state forests to historic Dutch country and deep river gorges, the Keystone State offers an incredible variety of landscapes. Whether you are driving a compact Class B camper van or hauling a large rig, navigating Pennsylvania by RV gives you front-row access to east coast history, vibrant fall foliage, and peaceful wilderness.
Navigating Pennsylvania's distinct regions requires a bit of planning, but the rewards are well worth the miles. Here is your ultimate guide to the best driving routes, must-see destinations, and essential tips for RVing through Pennsylvania.
Top Scenic RV Routes in Pennsylvania
1. Historic Route 6 (The Northern Tier)
Stretching over 400 miles across the top of the state, US Route 6 is widely considered one of America’s quintessential road trips. This two-lane highway takes you through small timber towns, farmland, and towering forests.
Driving east to west, you will travel from the Pocono Mountains all the way to Erie. Key highlights along Route 6 include the Pine Creek Gorge (known as the Pennsylvania Grand Canyon) near Wellsboro and the Allegheny National Forest. The drive is easygoing with plenty of wide turnouts and RV-friendly towns, though you should keep an eye out for gentle mountain grades in the central section.
2. The Laurel Highlands Scenic Byway
Located in southwestern Pennsylvania, the Laurel Highlands region features sweeping mountain views, covered bridges, and deep river valleys. Route 381 and Route 40 thread through this picturesque countryside, connecting outdoor hubs like Ohiopyle State Park with historic landmarks like Frank Lloyd Wright's Fallingwater.
While the scenery is stunning—especially during late September and October when fall foliage peaks—drivers of larger rigs should stay attentive. Routes in this region feature winding roads and short, steep inclines. Rely on lower gears and ensure your brakes are in prime condition before tackling the elevation changes.
3. Route 30 (Lincoln Highway) Through Dutch Country
For a mix of cultural heritage and countryside driving, US Route 30 through Lancaster County delivers an unforgettable experience. As you drive past picturesque Amish farmland, roadside farmers markets, and historic architecture, you will share the road with horse-drawn buggies, so keeping a relaxed pace is essential.
Continuing west on Route 30 leads into York and Gettysburg, making this route ideal for history buffs who want to blend camping with visits to historic battlefields and museums.
Must-Visit RV Destinations
The Pennsylvania Grand Canyon & Wellsboro
Located in Potter and Tioga counties, the Pine Creek Gorge stretches over 47 miles and reaches depths of over 1,000 feet. Leonard Harrison State Park and Colton Point State Park sit on opposite rims of the gorge, offering dramatic overlooks and access to the Pine Creek Rail Trail for biking and hiking.
- Where to Camp: Several full-service private RV parks operate around Wellsboro and Pine Creek, featuring full hookups, Wi-Fi, and pull-through sites. Nearby state parks offer scenic rustic camping for smaller rigs.
Cherry Springs State Park
If stargazing is on your bucket list, Cherry Springs State Park in Potter County is an absolute must. Designated an International Dark Sky Park, it boasts some of the darkest skies on the East Coast, where the Milky Way glows vividly to the naked eye.
- Where to Camp: Cherry Springs offers primitive camping on-site, but rig size limits apply. Larger RVs can set up camp at nearby private resorts or state parks like Ole Bull State Park and drive into Cherry Springs for evening stargazing sessions.
Ohiopyle State Park & The Great Allegheny Passage
For water lovers and adventure seekers, Ohiopyle State Park in the Laurel Highlands is the ultimate hub. The Youghiogheny River runs through the heart of the park, offering world-class whitewater rafting, kayaking, and natural waterslide formations. The park also borders the Great Allegheny Passage (GAP), a 150-mile continuous rail-trail that connects Pittsburgh to Maryland.
- Where to Camp: Ohiopyle State Park features a large campground with electric sites that can accommodate rigs up to 40 feet. Nearby commercial campgrounds offer full hookups and amenities like swimming pools and camp stores.
Allegheny National Forest & Kinzua Sky Walk
Covering over 500,000 acres in northwestern Pennsylvania, Allegheny National Forest is ideal for boating, ATV riding, and backcountry exploration. Just east of the forest sits Kinzua Bridge State Park, home to the Kinzua Sky Walk—a pedestrian walkway built on the remnants of a historic historic railroad viaduct with a glass floor looking into the gorge below.
- Where to Camp: The national forest offers a wide range of camping experiences, from full-hookup sites at private campgrounds to public campsites nestled right along the Allegheny Reservoir.
Essential Tips for RVing in Pennsylvania
- Mind the Low Bridges: Pennsylvania features many historic covered bridges and low-clearance railroad overpasses, especially on rural routes and back roads. Always use a specialized RV GPS programmed with your rig's height and weight.
- Navigating Mountain Grades: The Appalachian Mountains cross central Pennsylvania. Keep an eye on transmission temperatures when climbing, and downshift early when descending steep mountain passes.
- Plan Around the Seasons: Peak RV season runs from May through October. Fall foliage brings heavy traffic to routes like Route 6 and the Laurel Highlands, so book your campsites several months in advance for autumn trips. Winter camping is limited as many state park dump stations and water lines freeze or shut down by late November.
Frequently Asked Questions
What is the best time of year to go RVing in Pennsylvania?
Late spring through autumn is the ideal window. May through August offers warm weather for water sports and outdoor recreation. Late September through October is arguably the most popular time due to world-class fall foliage across the northern tier and mountain ranges.
Can I camp overnight with an RV in Pennsylvania State Parks?
Yes, many Pennsylvania State Parks offer dedicated RV camping. While day use in PA state parks is free, campground reservations are required and carry reasonable nightly fees. Most state park campgrounds offer electric hookups, though full-hookup sites (water, sewer, electric) are limited, so book early.
Are big rigs (over 35 feet) easy to navigate in Pennsylvania?
Major highways, interstates, and main routes like US-6 and US-30 are well-suited for large RVs. However, smaller state routes, mountain passes, and historic towns may have tight turns, steep grades, or low overhangs. Always plan your route beforehand using an RV-specific navigation system.
Before you buy or go: specs, prices and road conditions change. Confirm with the manufacturer or dealer, check your tow and payload ratings, and check road status before heading out.
