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Best RV Mattress

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Written by

Daniel Noyed


Recreational vehicles, or RVs, are a popular choice for many Americans — and the interest in RVs spans generations. These vehicles can be used recreationally, allowing users to take the amenities of home on the road, or they can be used as a primary residence.

Whether you’re hiking all day before returning to the RV or simply driving between destinations, getting quality sleep is something to look forward to. Our Sleep Foundation testing team performs hands-on evaluations to determine the best RV beds. We draw on years of testing experience and administer various tools and technologies to assess features such as temperature regulation, pressure relief, motion isolation, and durability, all of which are important for a quality RV mattress. Our team members reflect a range of sleep preferences and body types to help ensure that a wide spectrum of sleepers are represented in our testing process.

The Best RV Mattresses

Our top picks represent the best RV mattresses in categories that we’ve deemed most relevant to RV owners. You can read more about each of our top picks below. If you’d like to learn more about shopping for RV mattresses, scroll down to our comprehensive buyer’s guide. We discuss what to look for in an RV mattress, how RV mattresses differ from standard mattresses, and considerations that are specific to RV beds, such as how to prevent mold accumulation.

Product Details

Brooklyn Bedding Wanderlust

Best Overall

Brooklyn Bedding Wanderlust

Brooklyn Bedding Wanderlust
Price (Queen): $349
Mattress Type: Foam
Firmness: Medium Soft (4), Medium (5), Medium Firm (6), Firm (7), Firm (8)
Trial length: 120 nights (30-night requirement)
Trial length: 120 nights (30-night requirement)
Warranty: 10 Year, Limited
Warranty: 10 Year, Limited
Sizes: Twin, Twin XL, Full, Queen, King, California King, RV Sizes
Who it's best for:
  • Couples and families sharing an RV
  • Those who want a conforming memory foam mattress
  • Most sleeping positions and body types
  • Many sizes and height options
  • Contouring memory foam for pressure relief
  • Cooling gel-infused foam prevents overheating
Brooklyn Bedding Wanderlust

Save 20% on a Brooklyn Bedding mattress with this code: sleepfoundation20

The Brooklyn Bedding Wanderlust mattress has multiple options available that allow it to accommodate different RVs. The mattress is available in six-, eight-, and ten-inch profiles, and twenty different sizes. It has an all-foam construction that isolates motion, making it one of the best RV mattresses for couples and families traveling together.

The stretch knit cover ensures sleepers feel the benefits of the foam construction. A comfort layer of gel memory foam has an open-cell structure for better airflow. This layer conforms to the shape of the body and relieves pressure points. This is beneficial for RV owners with active lifestyles. The high-density polyfoam base improves the durability of the mattress, another essential consideration for RV owners.

The firmness of the Brooklyn Bedding Wanderlust depends on the height of the mattress. The six-inch profile has a firm (8) rating, which is best for side sleepers who weigh more than 230 pounds. The eight-inch profile has a firm (7) rating while the ten-inch profile is considered medium firm (6). This firmness is better for those who weigh between 130 and 230 pounds, and back and stomach sleepers who weigh less than 130 pounds.

The Wanderlust mattress lacks edge support, which is to be expected for an all-foam mattress. That being said, couples who prioritize motion isolation will appreciate that the foam construction absorbs movements and prevents sleep disturbances.

Brooklyn Bedding offers a 120-night sleep trial, which includes a 30-night mandatory break-in period. The Wanderlust mattress is covered by a 10-year warranty.

Bear RV Mattress

Best Value

Bear RV Mattress

Bear RV Mattress
Price (Queen): $599
Mattress Type: Foam
Firmness: Firm (7)
Trial length: 100 nights (30-night requirement)
Trial length: 100 nights (30-night requirement)
Warranty: 10 Year, Limited
Warranty: 10 Year, Limited
Who it's best for:
  • RV owners who lead active lifestyles
  • Hot sleepers who want a contouring mattress
  • Couples who prioritize motion isolation
  • Celliant fiber cover helps regulate temperature
  • Designed for sleepers with active lifestyles
  • Low-profile, 8-inch construction saves space
Bear RV Mattress

Use this SleepFoundation.org link for the most current discount on Bear mattresses

The Bear RV Mattress has a low profile designed with RVs in mind. The Celliant cover enhances recovery, temperature regulation, and overall wellness with infrared technology. This makes it one of the best RV mattresses for those who lead active lifestyles.

Beneath the breathable Celliant cover is a one-inch layer of graphite-infused memory foam. This conductive layer draws heat away from the body. A second layer of memory foam relieves pressure points and adds support to the Bear mattress. The high-density polyfoam base improves the durability of the mattress. The foam construction lacks a reinforced perimeter for edge support, so those who sleep or sit on the edge of the bed may notice some compression.

The all-foam construction of the Bear RV Mattress results in top-notch motion isolation. For couples, families, or those with pets, this means fewer sleep disturbances throughout the night. The mattress also offers standout pressure relief. Paired with the Celliant cover, the Bear mattress improves rest and recovery for avid hikers.

The firm (7) rating of the Bear mattress may be too firm for side sleepers who weigh less than 130 pounds, but it offers comfort and support for most other sleeping positions and body types.

The Bear RV Mattress is available in RV sizes bunk, queen, and king. The company offers a 100-night sleep trial. The Bear RV Mattress includes a 10-year warranty, which covers defects in materials and manufacturing.

Brooklyn Bedding Aurora

Best Luxury

Brooklyn Bedding Aurora

Brooklyn Bedding Aurora
Price Range: $999 - $2,199
Mattress Type: Hybrid
Firmness: Medium Soft (4), Medium Firm (6), Firm (7)
Trial length: 120 nights (30-night requirement)
Trial length: 120 nights (30-night requirement)
Warranty: 10 Year, Limited
Warranty: 10 Year, Limited
Sizes: Twin, Twin XL, Full, Queen, King, California King, Custom Sizes
Who it's best for:
  • Shoppers looking for a luxury RV mattress
  • Hot sleepers and those traveling to warmer climates
  • Couples
  • Exceptional pressure relief
  • Copper-infused foam is antimicrobial and assists in cooling
  • Durable hybrid construction
Brooklyn Bedding Aurora

Save 20% on a Brooklyn Bedding mattress with this code: sleepfoundation20

The Brooklyn Bedding Aurora is a luxury mattress for RV owners. The hybrid construction regulates temperature, which is beneficial for those traveling to warmer climates.

The cover of the Aurora mattress includes phase-change material, which draws heat away from the body and regulates temperature. A layer of CopperFlex polyfoam relieves pressure points. Copper is antimicrobial, which is beneficial for traveling. The layer of gel swirl memory foam beneath offers deep compression support. The base of the Aurora mattress is 8 inches of zoned pocketed coils, which respond to pressure for full-body support.

Each layer of the Aurora mattress helps isolate motion and prevents sleep disturbances. This is ideal for couples and families sharing an RV. The temperature neutrality of the mattress prevents sleeping hot. The Aurora mattress is an investment, but the hybrid construction is durable and should have a longer than average lifespan.

There are three firmness options to choose from: medium soft (4), medium firm (6), and firm (7). The softest option is best for side sleepers and those who weigh less than 130 pounds. Stomach and back sleepers who weigh more than 130 pounds may prefer the medium firm choice. The firm option offers ample support for stomach sleepers and those who weigh more than 230 pounds.

The Aurora mattress is available in short queen and RV king size, in addition to standard mattress sizes. The mattress includes a 120-night sleep trial, with a mandatory 30-night break-in period. Brooklyn Bedding covers the mattress with a 10-year warranty.

ORB Performance Hybrid Mattress

Most Comfortable

ORB Performance Hybrid Mattress

ORB Performance Hybrid Mattress
Price Range: $1,409 - $2,297
Mattress Type: Hybrid
Firmness: Medium Soft (4), Medium Firm (6), Firm (7)
Trial length: 100 nights
Trial length: 100 nights
Warranty: 10 Year, Limited
Warranty: 10 Year, Limited
Sizes: Twin, Twin XL, Full, Queen, RV Queen, King, RV King, RV Short King, California King
Who it's best for:
  • Frequent campers and roadtrippers
  • People who primarily reside in their RV
  • Couples
  • Deep foam layers provide even contouring and excellent pressure relief
  • Sturdy pocketed coils reinforce the edges against sinkage
  • 3 firmness options and multiple RV sizes
ORB Performance Hybrid Mattress

Use this SleepFoundation.org link for the most current discount on Off-Road Bedding mattresses

Off-Road Bedding (ORB) specializes in sleep products for RV owners, but the ORB Performance Hybrid Mattress is a bed that is also suitable for traditional bedroom environments. The mattress is constructed with two comfort layers of adaptive polyfoam, followed by a memory foam transitional layer. These components, along with a support core pocketed coils, create a sleep surface that alleviates pressure and feels highly supportive at the same time.

Customers can choose between three firmness levels for their mattress. The medium soft (4) option conforms the closest, making it best suited to side sleepers and people who weigh less than 130 pounds. The firm (7) feel at the other end of the spectrum does not contour very much but provides excellent stability for back and stomach sleepers and those who weigh more than 230 pounds. The medium firm (6) feel is a good middle-of-the-road option for people who want a balance of conforming and support.

For those who own RVs, the mattress is available in three sizes: RV queen, RV king, and RV short king. You can also choose from the six standard mattress sizes if you’d rather use the mattress in your home.

Although the ORB Performance Hybrid Mattress is a bit expensive, its high-quality design will be a good investment no matter where you set it up. Off-Road Bedding also offers free ground shipping throughout the lower 48 states. Each customer receives a 100-night sleep trial with their purchase, as well as a 10-year warranty.

GelFoamBed Venus Halcyon

Best for Side Sleepers

GelFoamBed Venus Halcyon

GelFoamBed Venus Halcyon
Price Range: $699 - :$1,199
Mattress Type: Foam
Firmness: Soft (3)
Trial length: 365 nights (60-night requirement)
Trial length: 365 nights (60-night requirement)
Warranty: 10 Year, Limited
Warranty: 10 Year, Limited
Sizes: Twin, Twin XL, Full, Queen, King, California King
Who it's best for:
  • People who weigh up to 230 pounds
  • Couples
  • People with pain or sharp pressure points in their shoulders, back, and hips
  • Exceptionally plush feel
  • Soft, deep body-contouring
  • Generous 365-night sleep trial
GelFoamBed Venus Halcyon

Use this SleepFoundation.org link for the most current discount on GelFoamBed mattresses

The Venus Halcyon from GelFoamBed is an excellent choice for RV mattress shoppers who prefer a plush feel and close conforming. The mattress features 1.5 inches of gel-infused memory foam quilted into the cover, followed by a thick comfort layer of adaptive polyfoam and three additional polyfoam layers. These components contour very deeply to alleviate pain and pressure points, making the mattress ideal for people who weigh up to 230 pounds – side and back sleepers in particular.

The support core is composed of high-density polyfoam to stabilize the entire bed, but the thick comfort system creates a soft (3) feel. The foam layers also absorb movement and prevent motion from transferring across the top surface, making the mattress well suited to couples and co-sleepers. Those who prefer high-profile mattresses should also find this 14-inch model quite comfortable.

The Venus Halcyon is Sound Sleep Products – the brand behind GelFoamBed – offers free shipping to all 50 states. The company also provides a 365-night sleep trial, one of the longest return and exchange periods in the mattress industry, as well as a 10-year warranty for the mattress.


Why You Should Trust Us

In order to bring you accurate and up-to-date recommendations, our team has personally evaluated hundreds of mattresses – including many models designed specifically for RVs. Each member of our expert team has years of experience researching and testing various sleep products. The testers fall into different groups based on their body type and sleep position(s), so you can rest assured our ratings are reflective of all sleepers.

An RV-friendly design was the main criterion for our top picks, but we also took factors like durability, performance, and pricing into account. Testing the mattresses involves several steps. These include lying on each mattress and sitting along its edges, measuring where pressure points are likely to occur with body-mapping sensors, and using thermal imaging tools to determine how cool or hot the mattress feels. The best RV mattresses listed above earned the most favorable ratings during our tests.

What is an RV Mattress?

RVs generally come with a mattress already in the sleeping area. These mattresses are often overly firm, thin, and otherwise uncomfortable. To customize the RV experience and make it feel like home, many RV owners choose to upgrade their RV mattresses. This ensures the mattress meets their unique needs and preferences.

The layout of each RV determines how much space there is for a bed. Some have less space for a bedroom, while others include bunks or pop-up spaces that require a smaller mattress. RV mattresses are often shorter or narrower than standard mattresses to accommodate a compact configuration.

Traveling in an RV may shift priorities. While shoppers may look for a high-profile, luxury mattress for their homes, an RV may require a lower profile and simpler construction. Not every type of mattress will work well in an RV. There are several factors to keep in mind, which we will cover in-depth later in this guide. These include mattress size, profile, weight, and overall durability.

How to Choose an RV Mattress

There are unique mattress shopping considerations for RV owners. Qualities like pressure relief and temperature regulation become more important for those who are traveling, hiking, and staying in warmer climates. Those who share an RV may find that noise and motion isolation are especially important. Each RV has a specific configuration that may require a lower profile, lighter weight, or smaller mattress. Everyone has different comfort preferences and needs to consider as well. Before choosing an RV mattress, it is important to keep these factors in mind.

What to Look For in an RV Mattress

The following factors are the most important things to look for when purchasing an RV mattress. Mattress companies will sometimes use misleading terminology or exaggerated marketing claims to sell mattresses. This can be confusing and overwhelming for customers looking for an RV mattress. Focusing on the basic details of the mattress and how it performs will help shoppers pick a high-quality mattress that best suits their needs and RV lifestyles.

  • Price: Many shoppers will want to spend less on an RV mattress than they would on a mattress for the home, especially if they do not plan to use the RV full-time. RV mattresses are available at a wide range of price points, from budget options to luxury choices. Setting a budget beforehand will help shoppers narrow down their choices, but keep in mind that a high-quality mattress is an investment. Beds made with quality materials will last longer and will not need to be replaced as often.
  • Profile: The RV mattress needs to fit in the allotted space in the RV. For some, the RV has a bunk bed or pop-up trailer that requires a low-profile mattress. Taking measurements of the bed frame and space beforehand will let shoppers know what profile will fit comfortably. Many RV mattresses have a six- or eight-inch profile, though some spaces can accommodate a ten- or twelve-inch mattress.
  • Weight: All RVs have a weight limit that should be kept in mind when shopping for a mattress. When driving an RV, lighter is better. Where the mattress is being placed should also be considered. For bunk beds and pop-up trailers, the mattress may need to be lifted overhead. Foam is often the most lightweight mattress option. Hybrid and latex mattresses can be heavy.
  • Contouring: How well a mattress conforms to the shape of the body determines how much pressure relief it provides. For RV owners who are active, a contouring mattress can relieve aches and pains from hiking and other activities. It can also reduce tension for those who have been driving for long periods of time. Many RV mattresses are made with memory foam, which cushions the shoulders and hips to help keep the spine aligned.
  • Noise: An RV is often a shared space for families who want to prevent sleep disturbances throughout the night. For those who are prone to tossing and turning, a mattress that is silent when bearing weight is ideal. This reduces the likelihood of waking up others who are sleeping. Foam and latex mattresses are typically silent, while mattresses with coils are more likely to make noise when bearing weight.
  • Sleeping Position: Sleeping position affects which mattress type and firmness will be right for you. Side sleepers often need ample cushioning for their shoulders and hips, while back sleepers benefit from additional lumbar support. Stomach sleepers, on the other hand, need a firm surface that keeps their hips and abdomens from sinking in. Combination sleepers should look for a mattress that allows for ease of movement to change positions as needed.
  • Durability: An RV mattress will need to withstand the elements. Those who use their RVs for recreation and road trips will encounter different climates, weather, and elements. They may also use the mattress seasonally or year-round. This varied usage means the mattress should be durable and made with materials that offer consistent comfort and support.
  • Firmness Level: Most RV mattresses are available in medium soft to firm levels. Personal preferences, sleeping position, and body weight will often dictate what firmness level to choose. Side sleepers and those weigh less than 130 pounds often opt for a soft to medium soft mattress. Back sleepers and people who weigh between 130 pounds and 230 pounds may prefer a medium to medium firm mattress. Stomach sleepers and those who weigh more than 230 pounds often benefit from a firm mattress.
  • Pressure Relief: After a day on the hiking trails or exploring a new place, RV owners may look forward to a mattress that relieves pressure points and reduces tension throughout the body. A mattress that cushions the hips, back, and shoulders can relieve aches and pains. Memory foam and latex mattresses are both known for their pressure-relieving properties.
  • Temperature Regulation: Since an RV is often used for travel, especially in the summer months, temperature regulation is an essential consideration. A mattress that regulates temperature prevents overheating and keeps hot sleepers comfortable. Some mattresses incorporate cooling graphite, gel, or phase-change materials. Breathable covers wick away heat and moisture for additional comfort.

What Size RV Mattresses are Available?

There are many more RV mattress sizes to choose from compared to standard mattress sizes. RV mattresses are often shorter and/or narrower than regular mattresses, so it is important to check the measurements of the bed frame or foundation. The size of the bed depends on the RV type and configuration.

Mattress sizes can vary between manufacturers, so in addition to double-checking the measurements of your space, be sure to read the product description and measurements before making a purchase. Common sizes and dimensions are listed below.

Size Dimensions
RV Bunk 28” x 75”
30” x 75”
30” x 80”
34” x 75”
35” x 79”
RV Twin 38” x 75”
38 x 80”
39” x 75”
40” x 80”
RV Full 53” x 75”
54” x 75”
55” x 75”
RV Three-Quarter 48” x 75”
48” x 80”
RV Short Queen 60” x 74”
60” x 75”
RV Queen 60” x 80”
RV Olympic Queen 66” x 80”
RV King 72” x 75”
72” x 80”
RV California King 72” x 84”

What Types of RV Mattresses Are Available?

Common mattress types include foam, latex, hybrid, innerspring, and airbeds. Though any mattress type will technically work in an RV, some are much better suited than others. Due to the size and weight constrictions of an RV, a foam mattress is usually best. This type of mattress is lightweight, which is ideal for spaces that require lifting the mattress overhead. It also avoids adding too much weight to the RV. Since foam mattresses have a simple construction, most are lower profile. That being said, there are benefits and drawbacks to each type of mattress, which we will break down here.


Definition: A foam mattress is made entirely of foam. This can include memory foam, a responsive viscoelastic foam that conforms to the shape of the body and relieves pressure. It usually includes polyfoam too. Foam is often infused with gel, graphite, or copper to prevent heat retention. A high-density core improves the durability of the mattress. The flexibility of foam makes it an ideal choice for RV owners.
Pressure Relief. Foam cushions pressure points and contours to the shape of the body to reduce tension. For RV owners who hike, climb, or lead otherwise active lifestyles, this type of mattress can prevent aches and pains and improve sleep quality.


Definition: A hybrid mattress incorporates elements of an innerspring and latex or foam mattress. The pocketed coil base minimizes motion transfer and responds to pressure for a supportive feel. These mattresses typically have a thicker comfort system than an innerspring mattress for better pressure relief. The comfort layers may include memory foam, polyfoam, and/or latex. Some hybrid mattresses include a transition layer of micro coils.
Temperature Regulation. The coil support base of a hybrid mattress increases airflow and helps regulate temperature. The comfort layers are often made with breathable materials like latex or open-cell foam. This is beneficial for hot sleepers and RV owners staying in warmer climates.


Definition: An innerspring mattress has a coil support base. The comfort system is thinner than that of a hybrid mattress and is often made with foam, fiber, or other padding. These mattresses typically have a simple construction and lower profile, which is beneficial for RVs. The coils add airflow throughout the mattress.
Affordable. Innerspring mattresses are widely available. This traditional mattress style is often affordable, so they are appealing to value-minded shoppers who may not want to invest in a more expensive mattress.


Definition: A latex mattress is made entirely of latex. This can include natural, synthetic, or blended latex. Natural latex is harvested from rubber trees and is processed in one of two ways. Dunlop latex is dense and heavy, while Talalay latex is lighter and more homogenous. Latex is more breathable than synthetic foam. It also offers moderate contouring for pressure relief.
Durability. Natural latex is highly durable with a long lifespan. For RVs that will be exposed to the elements, latex is designed to withstand different climates and provide consistent support. This means RV owners will have to replace the mattress less frequently.


Definition: An airbed has air chambers in the support base. This means the mattress is adjustable, as the chambers can be inflated or deflated to change the overall firmness of the mattress. Airbeds are often adjusted with a remote or smartphone app, and most need electric power to operate. They are less commonly found in RVs.
Adjustability. Users can set the airbed to their preferred firmness level. Some have dual chambers that allow couples with differing preferences to customize their side of the bed. For sleepers who are not sure what firmness level they prefer or for those with changing needs, the adjustability of an airbed is beneficial.

Last Things to Consider With an RV Mattress

There are plenty of factors to consider when shopping for an RV mattress. Everyone has unique needs and preferences. Additionally, RVs differ in configuration and usage. Keep the following considerations in mind when shopping for a new RV mattress.


Consider how much time will be spent in the RV, as this will determine how important the durability of the mattress will be. How often a mattress is used affects its lifespan. Those who use the RV as a primary residence and those who travel in it the majority of the year will want to invest in a durable mattress. A durable mattress will be able to withstand the elements, especially in an RV that is not weather-tight.

Number of Sleep Surfaces

How many mattresses the RV needs should be taken into consideration. Some RVs only have one sleeping area, while others have bunks or multiple beds. Solo travelers and those who share a bed may be able to invest in a more expensive mattress. Those replacing multiple mattresses in an RV might need to budget accordingly, especially when buying them all at once.

Mattress Toppers

Many RVs come with a mattress already in place. For pull-out beds and mattresses that cannot be removed or easily placed, a mattress topper is worth considering. A mattress topper is an affordable way to customize the existing mattress. It acts as an additional comfort layer that changes the firmness and feel of the mattress. These are often made of latex, foam, down, or wool. Keep in mind that a topper will add height to the mattress profile.

Comfort Preferences

While the configuration of the RV sleeping area will determine the mattress size and profile needed, comfort preferences should also be considered when shopping for a mattress. Each person is unique and will have different needs and preferences. Sleeping position and body type often affect which firmness and mattress type will be most beneficial. Hot sleepers will need breathable materials that prevent overheating. Those with allergies will want to look for a mattress that resists dust mites and other allergens.

RV Mattress FAQ

  • Are RV mattress sizes the same as regular mattresses?

    There are six standard mattress sizes: twin, twin XL, full, queen, king, and California king. Depending on the vehicle, any of these sizes could potentially be compatible with your RV’s sleep space.

    However, most RV mattress sizes slightly differ from standard sizes even if they share the same name. For example, a standard queen measures 60 inches wide by 80 inches long. An RV queen may be a few inches narrower or shorter, so it’s common to see these sizes with dimensions like 54 inches wide by 80 inches long or 60 inches wide by 75 inches long.

    This isn’t always the case, and you may come across some models available in RV sizes with identical dimensions as their standard mattress counterparts. Be sure to check size charts for any RV mattress before you buy to make sure it will be a good match for your vehicle’s interior setup.

  • Can you use a regular mattress in an RV?

    Some RVs can accommodate mattresses with standard sizes. However, many others feature sleeping areas that are designed for specific sizes that may be narrower or shorter than standard mattress dimensions. Be sure to measure the sleep space to determine the most suitable mattress size and make your purchase accordingly.

    While you’ve got the measuring tape out, take a moment to measure the RV’s ceiling height around the sleep space. The average standard mattress measures 10-12 inches thick, whereas RV mattresses can be as short as 6-7 inches. Those extra inches can make a world of difference, especially if your RV has a low ceiling or the sleep area includes an elevated platform.

  • How can you prevent mold under an RV mattress?

    Mold thrives in moist, humid environments. The interior of an RV can be a hotbed for moisture buildup, especially if ventilation is limited. Many RV owners use dehumidifiers and other devices to reduce moisture and lower the potential for mold. However, most RV sleeping platforms are made from solid wood and promote very little airflow. This lack of circulation leaves the area beneath your mattress vulnerable to mold, even if the rest of the interior is relatively mold-free.

    One easy way to prevent mold under your mattress is to elevate it on a platform when it isn’t in use. This allows air to circulate and limit the amount of moisture that accumulates beneath the mattress. You can also invest in a mattress underlay, a type of pad with raised grooves made of open mesh that accomplish the twofold task of elevating the mattress and generating airflow underneath it.

    You can also reduce moisture buildup throughout the RV by opening windows whenever possible and regularly using a dehumidifier.