Pennsylvania 🇺🇸 offers excellent RV road trips featuring Appalachian Mountains, forests, waterfalls, historic towns, Amish countryside, and major American history sites. From the scenic Poconos to Gettysburg’s historic battlefields, here are several great RV road trip ideas across Pennsylvania.
1. Pocono Mountains Scenic Route
4
Route:
Stroudsburg → Pocono Mountains → Bushkill Falls → Delaware Water Gap National Recreation Area
Distance: ~80 miles
Ideal length: 2–3 days
Highlights
- Forested mountain scenery
- Waterfalls like Bushkill Falls
- Scenic river valleys
- Hiking and wildlife viewing
RV Stops
- Delaware Water Gap / Pocono Mountain KOA
- Otter Lake Camp Resort
2. Pennsylvania Grand Canyon Route
4
Route:
Wellsboro → Pine Creek Gorge → Leonard Harrison State Park
Distance: ~40 miles
Ideal length: 2–3 days
Highlights
- Spectacular canyon views
- Scenic overlooks of Pine Creek Gorge
- Rail trails for biking and hiking
- Fall foliage scenery
RV Stops
- Leonard Harrison State Park Campground
- Hills Creek State Park Campground
3. Amish Country & Lancaster Route
4
Route:
Lancaster → Intercourse → Lancaster County
Distance: ~40 miles
Ideal length: 1–2 days
Highlights
- Scenic farmland and rolling hills
- Traditional Amish markets and bakeries
- Historic villages and crafts
- Peaceful countryside drives
RV Stops
- Beacon Hill Camping
- Lancaster / New Holland KOA
4. Gettysburg Historic Route
4
Route:
Gettysburg → Gettysburg National Military Park
Distance: ~30 miles
Ideal length: 1–2 days
Highlights
- Famous Civil War battlefield
- Historic monuments and memorials
- Guided battlefield tours
- Museums and historic downtown
RV Stops
- Gettysburg / Battlefield KOA Holiday
- Artillery Ridge Campground
5. Allegheny National Forest Route
4
Route:
Warren → Allegheny National Forest → Kinzua Bridge Skywalk
Distance: ~120 miles
Ideal length: 2–3 days
Highlights
- Forested Appalachian mountains
- Scenic reservoir views
- Hiking and kayaking
- Unique viewpoint at Kinzua Bridge Skywalk
RV Stops
- Dewdrop Campground
- Red Bridge Campground
6. Ultimate Pennsylvania Scenic Loop
4
Route:
Harrisburg → Gettysburg → Lancaster → Poconos → Pennsylvania Grand Canyon → Allegheny National Forest → Harrisburg
Distance: ~600 miles
Ideal length: 6–8 days
Highlights
- Historic Civil War landmarks
- Amish countryside
- Waterfalls and mountains
- Remote forest wilderness
✅ Quick Comparison
| Trip | Best For | Length |
|---|---|---|
| Pocono Mountains | Waterfalls & forests | 2–3 days |
| Pennsylvania Grand Canyon | Canyon scenery | 2–3 days |
| Amish Country | Rural countryside | 1–2 days |
| Gettysburg | American history | 1–2 days |
| Allegheny National Forest | Wilderness & hiking | 2–3 days |
| Ultimate PA Loop | Best of the state | 6–8 days |