Best RV Mattresses of 2021

By Loren Bullock

May 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? 

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

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Best RV Mattresses

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

bb rv wanderlust mattress
★Editor’s Pick

Best for:

  • People who need various options
  • Anyone who wants a luxury RV bed
  • Hot sleepers

“We noticed immediately after the 1st night how well we felt the next morning. No aches and pains!” -Brenda H.

Are you the indecisive type? Well, Brooklyn Bedding’s line of RV mattresses offers you a wealth of choices, sizes, and prices. Choose between the Wanderlust line (affordable mattresses that enhance your sleep), the Bowery Hybrid (both supportive and pressure relieving), the Signature Hybrid (a premium, responsive mattress with customizable firmness), and the Aurora (another customizable design specially made to sleep cool).

These beds are made just as meticulously as one you would put in your home and sleep on every night. And with sizes ranging from RV Bunk and Short Full to Olympic Queen and RV King, you are sure to find something for the whole family—or at least the whole RV.

Each mattress comes with a 120 night trial period and a 10-year warranty.

DynastyMattress CoolBreeze

dynastymattress coolbreeze
★Best Memory Foam Mattress

Best for:

  • People who sleep hot
  • Those who need special RV sizes
  • Side sleepers

“I didn’t warm up or suffer night sweats, in fact, it’s better than the mattress in my house.” -KB

If you want high-quality cool sleep from your memory foam mattress, the DynastyMattress does the job. This RV bed is 10 inches thick and registers as medium firm on the firmness scale. The base layer is 3.5 inches of support foam under two, 2 inch layers of cool airflow foam. The top layer is 4 pounds and 2.5 inches of gel foam with open cell technology, which allows for it to be breathable.

The CoolBreeze is wrapped in a white and brown suede, washable, fire-retardant cover. This cover has a zipper attached for easy cleaning, and the foam is CertiPUR-US certified, meaning it has no harmful chemicals and reduces off-gassing.

The DynastyMattress comes with a generous 120-day trial and a 20-year limited warranty for decades of restful road trips.

Zinus Spring RV

zinus six inch rv mattress
★Best Innerspring RV Mattress

Best for:

  • Shoppers on a budget
  • People with back pain
  • Those who prefer the feel of a traditional mattress

“It’s been a week and every night is great sleep!” -Jennifer D.

People who prefer the feel of a traditional mattress should consider an innerspring RV mattress, and Zinus Spring is our pick for best. You get great, firm support from the heavy duty coil springs.

Related: Best Innerspring Mattress

The foam that cushions the mattress is CertiPUR-US Certified and infused with both green tea extract and natural castor seed oil. These ingredients naturally retard odor and are anti-bacterial. The entire mattress is covered with a fiber quilt and comes with a 10-year warranty with purchase.

LUCID Gel Memory Foam

lucid ten inch rv mattress
★Best Short Queen Mattress

Best for:

  • Hot sleepers
  • Couples
  • People looking for a memory foam mattress

“After 2 years of sleeping on this mattress, I can say that it is still really great.” -Kristin K.

Sleeping in an RV with a partner can become a bit too warm in the summer, or maybe you’re just naturally a hot sleeper. No matter the reason for needing a cooling RV mattress that give both you and your partner space to spread out, the LUCID Gel Memory Foam mattress will keep you cool during those road trip nights, and the short queen size will give you space.

Related: Best Cooling Mattress for Hot Sleepers

This LUCID mattress has two layers of thick memory foam culminating up to 10-inches in thickness. It offers medium firmness—the perfect balance of comfort and support you need throughout the night. The bottom layer consists of 7.5 inches of high-density support foam that offers pressure-relief. There are 2.5 inches of open-cell gel memory foam atop the bottom layer for comfort that is cooling and breathable.

The foam is CertiPUR-US certified and resilient, so you won’t have lasting body impressions, and is all wrapped in a tencel blend cover that is breathable as well. When you buy this LUCID mattress, you get a 10-year warranty for a decade of family trips to come.

Serenia Sleep 6-inch Mattress

serenia sleep rv mattress
★Best Budget Mattress

Best for:

  • Travellers on a budget
  • Those who want a firm mattress
  • People with allergies

“Very comfortable and a perfect fit.” – A.C.

Want a quality mattress for your RV but don’t want to break the bank for a temporary sleeping arrangement? Well the Serenia Sleep RV mattress gives you the best value, offering the epitome of comfort and convenience.

Related: Best Cheap Mattress for Your Budget

The Serenia is a firm mattress that gives you pressure relief and support. Specially designed to target pressure points on your hips and shoulders, this mattress’s foam core is made from high-density foam to contour to your body’s shape. Not only this, but it’s dual-sided as well, meaning the mattress is flippable, extending its life.

Made here in the US, this memory foam mattress is CertiPUR-US certified, hypoallergenic, and dust mite-resistant. Not only is this mattress affordable, but it’s lightweight, easy to move, and comes in a variety of sizes, so it can fit in any size RV.

DynastyMattress Deluxe

dynastymattress deluxe rv
★Best for Back Pain

Best for:

  • Those who sleep hot
  • People who want a durable mattress
  • Couples

“I can honestly say that this weekend, I slept the best I ever have in my life.” -K. Jones

The DynastMattress Deluxe is a quality foam camper mattress, great for travellers who suffer from back pain. This 10 inch bed is made from three premium foam layers. This includes 4 inches of dual airflow foam to keep you cool during your night cruising through the USA. The high-density foam base ensures the DynastyMattress Deluxe lasts for years to come.

The comfort foam in the Dynasty Mattress Deluxe also keeps motion transfer at bay, perfect for couples with the travel bug. On top of that, DynastyMattress is so confident in their RV mattress they offer a 120-night trial with purchase and a 20-year warranty.

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
RV Mattresses by Brooklyn Bedding Editor’s Pick
DynastyMattress CoolBreeze Best Memory Foam Mattress
Zinus Spring RV Best Innerspring Mattress
LUCID Gel Memory Foam Best Short Queen Mattress
Serenia Sleep 6-inch Mattress Best Budget Mattress
DynastyMattress Deluxe Best for Back Pain