Best RV Mattresses of 2021

By Loren Bullock

Oct 13th, 2021

When you get that travel bug, there is nothing better than grabbing your significant other or family and hitting the road in a recreational vehicle (RV). They have all the amenities: kitchens, bathrooms, and even bedrooms. But what is a bedroom without a mattress, even a bedroom on wheels?

To see our top picks for the best RV mattresses for you and your family, keep reading.

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Best RV Mattresses

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In the next section, we’ll do a deeper dive into each choice of our list to help you find the most comfortable mattress for your travels.

Brooklyn Bedding Signature

brooklyn signature mattress
★Editor’s Pick

Recommended for:

  • Budget-minded sleepers
  • People who want customizable firmness 
  • Couples

“We ordered the bed for our new RV. The bed is SO comfortable that we may order one for home as well. Highly recommend Brooklyn Bedding!” -Gary T.

The Brooklyn Bedding Signature is our Editor’s Pick for RV mattress, for several reasons. It’s affordably priced and offers three firmness levels (soft, medium, and firm) so that a broad range of people should be able to find their sweet spot for sleep. If you’re concerned about staying cool in the cozy confines of your RV, this hybrid also features gel-infused foam layers and a breathable cover.

The Signature gets high marks for pressure relief, spine alignment, and edge support in Mattress Advisor testing. However, the lower score for motion transfer could be a red flag for couples (especially with restless or combination sleepers). Brooklyn Bedding offers a 10-year limited warranty, and you can return your mattress at any point after 30 nights of the 120-night trial period.

Helix Midnight

midnight cover
★Best for Back Pain

Recommended for:

  • People with back pain
  • Couples
  • Hot sleepers

“Best mattress I’ve ever had! The extra softness on top is like sleeping on a cloud. I haven’t had any back pain which is amazing!” -Kimberly K.

For those who want to leave back pain at home when they set out on the road, the Helix Midnight could be a blissful addition to their RV sleeping quarters. This most popular Helix model scores high for spine alignment and pressure relief, two key factors in helping sleepers with back pain.

The multi-layered combination of innersprings, latex and foam also lends itself to keeping you cool through the night, with the innerspring coils promoting airflow. The Midnight is recommended for all types of sleeping positions, and it comes with a 10-year warranty and 100-night sleep trial (the company asks for a 30-night minimum).


PlushBeds Botanical Bliss

plushbeds botanical bliss 1
★Best Organic RV Mattress

Recommended for:

  • Environmentally conscious people
  • Back, side and stomach sleepers
  • Allergy sufferers

“Best sleep ever on this mattress! Supportive yet cushioning to my lower back and keeps me cool during the night. I just love this mattress!” -Alexandria H.

The PlushBeds Botanical Bliss offers an intriguing option for RV owners who like their mattresses comfortable and their carbon footprint small. PlushBeds uses innovative technology and rigorous testing standards to produce an organic, hypoallergenic alternative to conventional mattresses. 

You can choose from three thickness options (9”, 10”, or 12”) to get your desired level of support. The organic cotton cover and organic wool comfort layer provide breathability and cooling. You get a 100-night sleep trial with the option to return the mattress after the first 30 days, along with a 25-year limited warranty. If you’re interested in a PlushBeds mattress designed specifically for recreation vehicles, you can check out the Original 6″ MobilePlush.


dreamcloud dog
★Best Luxury Mattress

Recommended for:

  • Couples who prefer different levels of firmness
  • People with back or hip pain
  • Most body types and most sleep positions

“My mattress is so comfortable that I always feel like not getting up. The best mattress and best purchase I’ve ever made.” -Danny N.

If you think you have to leave luxury behind when you hit the road, DreamCloud suggests you think again. Few hybrid mattresses score higher in our review process than the DreamCloud Original, which can make sleeping in your RV feel more like sleeping at home.

The DreamCloud is designed to provide luxury-level comfort in several areas—spine alignment, responsiveness, cooling, and more. Layers of pocketed coils and foam combine to deliver a medium-firm experience good for most sleeping types. You also get a 365-night trial, free returns for a year, and a lifetime warranty.

Brooklyn Bedding Aurora

BB aurora mattress
★Best Mattress for Hot Sleepers

Recommended for:

  • Sleepers who have trouble staying cool
  • People with back pain
  • Couples

“Great bed for a back sleeper who is also a hot sleeper.” -Brian S.

At the end of a busy day on the road, the last thing many RV travelers want is to spend the night losing their cool. Fortunately for hot sleepers, the Brooklyn Bedding Aurora is designed to help keep things from getting toasty as you sleep.

The Aurora has scored a 9.5/10 for cooling in Mattress Advisor’s testing and review process. This luxury hybrid mattress has cooling technology built into every layer, starting with a top foam layer that uses TitanCool beads to help regulate your body temperature. If support is also a high priority, you can choose your Aurora in soft, medium, or firm. The sleep trial is 120 nights with a 30-night minimum and the warranty lasts 10 years.

Tuft & Needle Original

tuft and needle
★Best Budget Mattress for RVs

Recommended for:

  • Budget-conscious RV owners
  • Side sleepers
  • Restless sleepers

“Our new mattress has matched our expectations for what a mattress ought to be.” -S. Lovins

Outfitting an RV can get expensive, but finding the right mattress for your travels doesn’t have to be. You can get a Tuft & Needle Original in queen size for less than $900, and possibly even lower with sales or promotional discounts. As for quality and comfort, this mattress scores pretty well on durability (8/10), responsiveness (8/10), and spine alignment (8.5/10) in our testing and review process.

Still, the product itself is just part of the story. We give it 10/10 for customer service, and customer reviews on the company website attest to Tuft & Needle successfully resolving everything from shipping issues to replacements. You can also look forward to a 100-night trial period, a 10-year limited warranty, and free returns.

How to Buy a Mattress for Your RV or Camper

Whether this is your first time road tripping in an RV or you’re seasoned at hitting the road, we’ll help you find the perfect type of mattress for your camper.

In this guide, we’ll dive into:

What Makes an RV Mattress Different

Your sleep on the road is just as important as it is when you’re at home. Though most RVs come with generic mattresses, they tend to be lumpy, stiff, and uncomfortable. Lack of sleep or repeated nights of bad sleep can adversely affect your mood: you become irritable, sad, or angry. Travel and vacation should be a time of peace, adventure, and relaxation, so choosing a quality RV mattress is important.

RV mattresses are shaped differently than regular mattresses—they need to fit easily and comfortably in compact spaces. They are typically about 6 inches shorter than average mattresses, less thick, and have specific dimensions that cut off corners to allow for easy navigation and door opening.

Types of RV Mattresses

Just like your at-home mattress, RV mattresses are made of different materials.

Memory Foam RV Mattress

Memory foam is the most popular type of RV mattress because of the automatic contouring comfort it provides. The foam adjusts to your body’s shape, and most offer relief from pressure points.

The biggest problem with a memory foam RV mattress is that it can sleep hot. With thicker foam, you sink in and the heat has nowhere to escape, so it radiates back into you. However, some memory foam mattresses have cooling gel layers or utilize open-cell technology that allows for airflow to keep you cool.

Innerspring RV Mattress

Innerspring mattresses are of the most inexpensive options when it comes to RV mattresses. They are composed of metal coils surrounded with padding for combined comfort and support. These are quite bouncy, but aren’t always the quietest or least disturbing when sleeping with a partner.

This mattress type isn’t the best to put in a vehicle because of proximity to the elements. The metal inside has the potential to rust. Regardless, some people love the feel of a traditional mattress.

Latex RV Mattress

A latex mattress includes latex foams (either natural or synthetic) that are cool and supportive. Latex is a naturally antimicrobial material and is mildew resistant, so latex mattresses last longer. However, they aren’t great at providing cushion-like comfort; they often come across as firm.

Hybrid RV Mattress

Hybrid mattresses combine any of the materials above to make a comfortable sleeping experience that is often customized for a specific sleep style or issue, such as cooling. Hybrid mattresses work great for every sleep style and situation; however, because they often require many layers, it is rare that RV mattresses are made as hybrids.

RV Air Mattress

RV air beds are filled with air that you often have to pump yourself. They are great if you want to customize your firmness. Air beds also allow you more room in the RV because you can deflate them and pack them away until it is time to sleep again. The only issue you will run into is that you might not have a power source to blow up the air mattress with.

Benefits of an RV Mattress

When you’re in an RV, it is especially crucial to pay attention to your sleep because driving is involved. Drowsy driving can reduce reaction time and focus. A high-quality mattress in your RV makes pulling over to catch some Zs a simple solution to travel exhaustion.

Not only that, but RV mattresses are space savers as well. They are designed to take up the least amount of room in the car as possible, so there is more wiggle and storage space. The bigger your family, the better this feature becomes.

Because of elemental proximity, RV mattresses are made to be hypoallergenic. If you already have allergies or sensitivities, RV mattresses are perfect for your travels.

What to Consider When Shopping

Type of Vehicle

If you are already one of 10 million RV owners, chances are you know there is more than one type of RV. Each has a different layout, which will affect the type of RV mattress compatible with the RV itself.


Motorhomes are RVs where the driver’s seat is attached to the interior. They come in three classes that vary in size: A, B, and C. Class A motorhomes have the most room and could reasonably fit any size mattress. Class B motorhomes are a bit smaller and often feature bunk beds. Depending on the layout, they could fit any size bed as well. C Class motorhomes are the smallest and typically feature pull-out couches or sleeper sofas rather than beds.

Pop-up Trailer

Pop-up trailers are not attached to the vehicle directly, rather, they are towed behind a car or truck. They aren’t made for long trips, and the mattresses that come with them often aren’t removable. Mattress toppers are the most compatible with these RVs.

Travel Trailer

Like pop-up trailers, travel trailers are towed behind a car or truck. These are rather large in size, but often utilize pull-out couches, or beds that fold out.

Fifth Wheel Trailer

Fifth wheel trailers are those giant towable trailers with a raised forward section. Despite their size, these are the easiest type of towable trailers to maneuver because of the fifth wheel coupling. Trailers this size can sleep up to six people and could reasonably fit any size rv mattress—from twin to king sized.

RV Mattress Sizes

The first thing to consider when looking for an RV mattress, once you know your RV dimensions, is the size. Here are some common sizes (and their dimensions) that fit in a travel vehicle.

RV Twin

Twin mattresses are the most economical for an RV because they save the most space. They can be used alone, side by side, or in a bunk. Sometimes they can double as daytime seating or fold out from a table to save even more space. The dimensions range from 28” x 75” to 40” x 80.”

RV Bunk

Bunk mattresses are similar to twin sizes but are more specifically made for bunk beds in campers. Bunk mattresses fit perfectly in family-friendly travel vehicles such as fifth wheel trailers. The dimensions range from 28” x 75” to 42” x 80.”

RV Full

RV full mattresses are just like regular double mattresses except they are wider. They complement pull-out or fold-out couches and sofas the best in an RV. The dimensions range from 53” x 75” to 55” x 75.”

Three Quarter Queen Size

You guessed it: three quarter queen mattresses are 75% the size of a regular queen in both width and height. These are perfect for spaces in your RV with odd dimensions or placement. The dimensions range from 48” x 75” to 48” x 80.”

RV Queen

Though most RV mattresses aren’t the same dimension as regular mattress sizes, RV queen mattresses have the same dimension as your queen mattress at home. These fit well into pop-up trailers and tend to only have one size: 60” x 80.”

RV Short Queen Size

Short queen mattresses are 5 to 6 inches shorter than regular queen mattresses. This size is perfect for couples who rented a smaller travel vehicle. The dimensions range from 60” x 74” to 60” x 75.”

Olympic Queen

Olympic queen mattresses are 6 inches wider than a regular queen mattress—perfect for RVs that are wider than they are longer. These tend to only have one size: 66” x 80.”

RV King

King sizes are slightly narrower than regular king mattresses. These are often found in pop-up trailers. The dimensions range from 72” x 75” to 72”  x 80.”

Eastern King Size

“astern kings are rather new sizes for RVs. They are four inches wider than king size mattresses. This size is perfect for couples who love space or parents who co-sleep. These tend to only have one size: 76” x 80.”

RV Cal King

California kings are more common in regular homes than in RVs. RV Cal kings are 4 inches longer than regular RV kings. These are great for tall people or those who toss and turn. The dimensions range from 72” x 80” to 72” x 84.”

Make Sure You Measure

As you can see, most sizes have multiple dimensions, so make sure that you measure the mattress space in your RV and double check that the dimensions match before you purchase. The last thing you want is to delay your trip because you have to return your new RV mattress.

Sleep Temperature

While most RVs contain air conditioning systems, they use a great deal of energy, and air easily escapes a vehicle. The ideal sleep temperature is between 60 and 67 degrees, and if you usually sleep hot, it might need to be even lower. Be sure that whatever mattress you decide on has cooling properties to combat the heat this summer.


If you choose to get a memory foam mattress, especially one made of polyurethane foam, be aware of the off-gassing process. Off-gassing is the strong “new mattress smell” that happens when you unbox your memory foam mattress.

Some side effects of off-gassing are headaches, dizziness, and nausea. To minimize this, unbox your mattress in an open, ventilated area. It should be left alone to off-gas for at least two days in a room that gets a good amount of airflow before it gets moved into the vehicle. If it gets brought into the RV before it’s done, the fumes could be overwhelming.


If you can’t take out the built-in mattress that comes with your RV, there are some sleep accessories you can use to make it more comfortable.

  • Mattress Topper: A time tested solution to uncomfortable mattresses, mattress toppers will add a cozy layer of foam that can be easily cut and shaped to an RV mattress size. Toppers shaped specially for RVs are also available on Amazon.
  • Mattress Pad: A mattress pad works the same as a mattress topper by adding a cushioning layer between you and an uncomfortable mattress. They even have cooling options for people who sleep hot. However, mattress pads aren’t as amenable as toppers, so you will have to buy a special RV pad.
  • Bedding: Of course there is special RV bedding to compliment an RV mattress! These are mostly available on Amazon.

You could easily combine all three of these accessories for an ultimate comfort mattress in your RV.


RV mattresses tend to last an average of 7 years, so make sure that you secure a warranty at least that length of time or longer.


What is the best RV mattress?

The best RV mattress is one that fits the following criteria: it fits in your RV, camper, or trailer; there is enough space for you and your sleep partner, it’s supportive enough to hold your weight, it’s comfortable enough to give you good sleep, and it has good customer reviews.

Can you use a regular mattress in an RV?

Not all mattresses in an RV have to specifically be RV mattresses. You can purchase a regular mattress with mattress measurements that compliment the RV space, but be sure to measure that space before you buy.

How can I make my RV mattress more comfortable?

You can make your existing RV mattress more comfortable by using any mattress accessories. Foam mattress toppers add extra pressure relief and mattress pads add extra cushion. Opt for open-cell foam or breathable material if you sleep hot.


A lot of thought goes into picking an RV mattress. It has to be the right size, type, and temperature. But, once you get your hands on the best one, your trip elevates. RVs make for great road trips and family bonding memories, so make sure you have the perfect mattress to compliment your temporary home.

As a reminder, here are our top picks:

Mattress Award
Brooklyn Bedding Signature Editor’s Pick
Helix Midnight Best for Back Pain
PlushBeds Botanical Bliss Best Organic Mattress
DreamCloud Best Luxury Mattress
Brooklyn Aurora Best Cooling Mattress
Tuft & Needle Original Best Budget Mattress