• We have spent more than 1,000 hours researching and testing the top mattresses on the market and consulting with 21 sleep experts to compile our recommendations.
  • Our testers have evaluated more than 100 models and recorded our findings on a 42-question standardized testing form to identify standout features and services, document issues with each product, and describe our personal experience lying on each mattress.
  • We pay close attention to specific considerations that sleepers of all ages seek, as identified by respondents in our surveys of 1,200 mattress owners. This includes price, features, and the set-up process.
  • We evaluate factors specific to RV owners, like space, maneuverability, ease of setup, and price.
  • Learn more about .Learn more about our how we tested the best mattresses for RVs.

Key takeaways

  • The Brooklyn Bedding Signature Hybrid is our pick for the best mattress for an RV overall due to its affordable price, ease of maneuverability and setup, and comfort. 
  • Based on our research, RV mattresses need to be durable, easy to maneuver and set up, cost-effective, and come in sizes that offer reduced dimensions. 
  • The mattresses for an RV we chose can cost between $665–$2,874 or more, depending on size, construction, and materials.
  • Depending on your space, any mattress may accommodate an RV.

Buying an RV may be one of the most exciting purchases of your life. The appeal of traveling while having the comforts of home at your fingertips makes them a highly sought form of transportation. 

Making sure your RV is outfitted to your taste and comfort level is key when preparing for life on wheels, even if it’s only temporary. While the bedroom in your RV is likely smaller than your bedroom at home, it doesn’t mean you have to sleep any less comfortably. Not getting enough good quality sleep can make everyday life more challenging, but it can be downright dangerous if you are on the road. In some cases, sleep deprivation is more consequential on driving performance than alcohol.

“Sleep plays a vital role in our mental health and general well-being. A lack of sleep can have a significant impact on our mood, cognition, and overall health,” said Rachel Ragsdale, founder of Braincode Centers, a mental health care clinic based in Colorado.

Setting up your RV with the best mattress for you can help ensure you’re energized and alert each day. To help you narrow down the options, our Handbook Team tested and evaluated more than 100 mattresses to find you the best mattresses for RVs. While some brands offer RV-specific mattresses, we chose the best from the mattresses we’ve tested, considering affordability, ease of setup, and versatility while highlighting each bed’s top features. Continue reading to see our top picks.

5 best mattresses for RVs of 2024

Brooklyn Bedding Signature Hybrid: Best mattress for an RV overall

9.2 Excellent
Brooklyn Bedding Signature Hybrid

Features

  • Material: Hybrid.
  • Cost: $665–$1,599. 
  • Sizes: Twin, full, queen, king, RV king, and RV bunk (short sizes available).
  • Warranty: 10 years.
  • Trial period: 120 nights.
  • Shipping: Free shipping.
  • Brand’s firmness rating: 6/10.
  • Our experience: Our testers like the pressure relief this mattress offers and think it’s a good choice for back and side sleepers. They like the soft, thick cover and enjoy the contour the first layer offers, saying it feels “plush” while still keeping their weight evenly distributed.

Pros and cons

Pros Responsive surface makes it great for combination sleepers. Offers great pressure relief for side and back sleepers. Provides solid support to maintain a neutral spine. Available in RV king sizes. Budget-friendly. Cons Only offers average cooling. Edge support could be better.
Best overall

Why Brooklyn Bedding Signature Hybrid is our pick for best mattress for an RV overall

For many people, outfitting their RV with a high-quality mattress may not be feasible. Since a mattress is a big investment, we chose the Brooklyn Bedding Signature Hybrid as our best mattress for an RV overall because it offers an affordable price, easy setup, and good quality. 

Who may want to use the Brooklyn Bedding Signature Hybrid: Back sleepers who need a lot of pressure relief or those who switch positions or need help with mobility due to its responsive Good responsiveness means the mattress has a bouncier surface that responds to pressure or the sleeper’s movements, making it easier to move around and switch positions. surface and layers of high-density memory foam. 

Who may want to avoid the Brooklyn Bedding Signature Hybrid: Couples who are easily disturbed by their partner’s movements may want a mattress that isolates motion better. 

Brooklyn Bedding Signature Hybrid tester insights

Our testers think the Signature Hybrid is a great fit for back sleeping and like the contouring in the lower back. The mattress evenly distributes our weight and keeps the spine in a neutral position A position that allows for the spine to maintain its natural curves at the neck (cervical), middle (thoracic), and lower (lumbar) regions. n. We like how this mattress is on the softer side of medium, offering decent pressure relief for side sleepers and high pressure relief for back sleepers. We even think it’s supportive enough for some lighter-weight (under 130 pounds) and average-weight (130–250 pounds) stomach sleepers. But higher-weight (over 250 pounds) stomach sleepers will likely need something firmer and more supportive. 

One potential concern is that the mattress only offers average edge support Edge support is the bed’s strength and stability around the perimeter. . There’s a dipping sensation as you gravitate toward the edge of the mattress and a general feeling of instability. Sleepers who need to use the full surface area of the bed may want to explore other options.

The Brooklyn Bedding Signature Hybrid comes roll-packed inside a box, making it easier to unbox and install in your RV.

A 10-pound weight sits on top of the Brooklyn Bedding Signature Hybrid mattress in our testing facility
 We drop a 10-pound dumbbell on the mattress to test bounce

From one of our Brooklyn Bedding Signature Hybrid testers:

“The mattress is a bit on the softer side, which makes it comfortable for back sleepers, and it could also be good for side sleepers. It has a cushiony feel, but it’s met with a slightly firm material underneath.”

For more information, read out Brooklyn Bedding mattress review and our round up of the best affordable mattresses.

Helix Midnight Luxe: Best luxury mattress for an RV

Best luxury mattress for an RV
9.4 Excellent
Helix Midnight Luxe

Features

  • Material: Hybrid.
  • Cost: $1,373.80–$2,873.80. 
  • Sizes: Twin, full, queen, king, and RV king (short sizes available).
  • Warranty: 15 years.
  • Trial period: 100 nights.
  • Shipping: Free shipping.
  • Brand’s firmness rating: 5.5/10.
  • Our experience: Our testers like the Helix Midnight’s soft pillow top and supportive foam layers, which we found feel great for most back and side sleepers and all stomach sleepers. 

Pros and cons

Pros Plush surface and supportive deeper layers work great for stomach sleepers. Offers a short queen size, which can be great for RVs. Excellent edge support. Zoned support helps distribute weight evenly. Cons Poor motion isolation. High price point.

Why the Helix Midnight Luxe is our pick for best luxury mattress for an RV

We choose the Helix Midnight Luxe as the best luxury mattress for an RV because it offers a plush yet supportive feel and is available in a shorter size that’s perfect for RVs. The short queen size is 74 inches long, compared to the regular-size queen, which is 80 inches long, providing RV owners six inches of extra space to use in their RV. While the mattress is softer due to its plush pillow top, the deeper layers of high-density memory foam offer a high level of support, making it ideal for almost all sleep positions.

Who may want to use the Helix Midnight Luxe: Lighter-weight (under 130 pounds) and average-weight (130–250 pounds) back and side sleepers may enjoy the contouring from this pillow top mattress but should still feel supported by the mattress’s layers of high-density foam. Stomach sleepers of all body types may like the strong support that helps keep hips elevated and the spine neutral.

Who may want to avoid the Helix Midnight Luxe: People on a budget may want a more affordable option, and higher-weight side and back sleepers may need something firmer.

Callout Box: While the Helix Midnight Luxe offers a short queen that’s great for RVs, if you want a more affordable short queen mattress, you may want to consider the Nolah Original Hybrid. 

Helix Midnight Luxe tester insights

Our testers feel the Helix Midnight Luxe offers a comfortable feel due to its plush pillow top, which is great for sleepers who like to feel cradled and enjoy a high amount of contouring in their mattress. Despite that pillowy feel, our testers still note the deeper layers of the mattress— which are made from zoned, high-density memory foam—provide enough support for stomach sleeping and help keep the spine neutral in all other sleep positions. 

The Helix Midnight Luxe comes rolled up inside a box, allowing easier portability.

A woman holds a 10-pound dumbbell over a mattress with blue pillows
A tester dropping a 10-pound dumbbell on the Helix Midnight Luxe

From one of our Helix Midnight Luxe testers:

“I’m surprised how such a plush surface can provide enough support for stomach sleeping, but it’s really comfortable.”

Read more about the Helix mattresses in our Helix review.

Nolah Signature: Best mattress for back pain for an RV

Best mattress for back pain for an RV
9.5 Excellent
Nolah Signature

Features

  • Material: Foam.
  • Cost: $1,299–$2,798. 
  • Sizes: Twin, full, queen, king, and split king (short sizes available).
  • Warranty: Lifetime.
  • Trial period: 120 nights.
  • Shipping: Free shipping.
  • Brand’s firmness rating: 5/10.
  • Our experience: Our testers think the Nolah Signature has a firm feel but still offers a good amount of pressure relief for back and side sleepers, especially those who are average weight (130–250 pounds) or higher weight (more than 250 pounds). Our testers also feel the Nolah Signature has a responsive surface, making it easy to change positions.

Pros and cons

Pros Suitable for all sleeping styles. Great responsiveness, making it ideal for sleepers who change positions. Suitable for higher-weight sleepers. Good motion isolation. Cons Poor bounce. May be too firm for lighter-weight (less than 130 pounds) side sleepers.

Why the Nolah Signature is our pick as best RV mattress for back pain

We chose the Nolah Signature as the mattress for back pain for an RV because it scored high in support and pressure relief, making it ideal for multiple positions and a variety of sleepers.

Who may want to use the Nolah Signature: People interested in an all-foam mattress that offers a high amount of pressure relief as well as support in the lumbar region. 

Who may want to avoid the Nolah Signature: Sleepers with mobility issues may need a mattress that provides more bounce. 

Nolah Signature tester insights

Our testers gave this mattress a 4 out of 5 in overall support and a 4.5 out of 5 in pressure relief (while on our back), which makes it a good choice for back sleepers who like a soft, contouring feel but need a high level of support. When lying on our backs on this bed, we feel more “on top” of it than “in” it. Our spine remains neutral while our weight is evenly distributed. While Nolah rated this a 5 out of 10 for firmness, we found it significantly firmer and rated it 7.5 out of 10, making it a firm mattress. In addition to this mattress’s solid support, its level of firmness is one reason we think higher-weight (over 250 pounds) sleepers may like this mattress.

Despite being all foam with a low bounce score, our testers think the Nolah Signature offers a good amount of responsiveness, so they didn’t find it too hard to switch positions. While it has a firmer feel, our testers also believe there’s enough contouring for side and back sleepers to be comfortable. The layers of zoned Airfoam offer additional support in the lumbar region for back sleepers. 

The Nolah Signature comes rolled up inside a box, making it easier to load into your RV and install. 

One of our testers presses down on the Nolah Signature Hybrid to test edge support.

From one of our Nolah Signature testers:

“I didn’t expect this mattress to be as firm as it is, but we also found it offers pressure relief while on our backs and sides. I think lighter-weight side sleepers may want something softer.”

Nolah Signature is our pick for the best mattress

While the Nolah Signature is our pick for the best mattress for people with back pain for an RV, if you’re interested in a hybrid mattress, you may want to consider the DreamCloud hybrid model.

Read more about Nolah mattresses in our Nolah review.

Titan Plus: Best RV mattress for heavier people

9.2 Excellent
Titan Plus

Features

  • Material: Hybrid.
  • Cost: $699–$1,598.
  • Sizes: Twin, full, queen, king, and RV king (short sizes available).
  • Warranty: 10 years.
  • Trial period: 120 nights.
  • Shipping: Free shipping.
  • Brand’s firmness rating: 9/10.
  • Our experience: Considering that the Titan Plus is designed for higher-weight (over 250 pounds) sleepers, our testers think the mattress is good for most sleep styles. However, they note that it may be too firm for lighter-weight (under 130 pounds) and average-weight (130–250 pounds) side sleepers, who may experience pressure buildup in this position.

Pros and cons

Pros Provides a high level of support for higher-weight sleepers in all positions. Responsive layers make it easy to change positions. Great contouring. Cons Offers below-average cooling. Side sleepers may experience some pressure buildup.

Why the Titan Plus is our pick as best RV mattress for heavier people

The Titan Plus is our pick as the best mattress for heavier people with an RV because it has high-density foams and durable TitanCore coils that provide the high level of support these sleepers need. While the Titan Plus offers a firm feel, its 900-plus coils offer contouring and responsiveness to ensure sleepers feel some cradling and can easily move around. 

Who may want to use the Titan Plus: Higher-weight sleepers who like a firm sleep experience and need a lot of support.

Who may want to avoid Titan Plus: Lighter- or average-weight side sleepers may want to explore softer options that offer more pressure relief. 

Titan Plus tester insights

Our testers think the Titan Plus is a solid choice for higher-weight sleepers of all types. While it’s high on the firmness scale, the quilted top offers additional cradling, which provides some soft contour. Titan gave this mattress a 9 out of 10, but while we agree this is a firmer mattress, we feel it’s more in line with an 8 out of 10. Back and side sleepers should like the high level of pressure relief this mattress provides, while stomach sleepers should get the support they need to stay aligned. 

The Titan Plus comes rolled up inside a box for easy maneuverability and setup in your RV.

The Titan Plus mattress on a wooden base in our testing facility
The Titan Plus mattress we tested that’s located in our mattress testing facility.

From one of our Titan Plus testers:

“I feel like I’m lying on the surface without sinking in. I like how it supports my weight evenly.”

If you want a mattress

If you want a mattress with a softer feel suitable for higher-weight sleepers, consider the Emma Hybrid Comfort.

Read more about Titan in our best mattresses for heavy people review or in our Titan review.

Plank Firm: Best firm mattress for an RV

Best firm mattress for an RV
9.2 Excellent
Plank Firm

Features

  • Material: Foam.
  • Cost: $749–$1,642. 
  • Sizes: Twin, full, queen, king, and RV king (short sizes available).
  • Warranty: 10 years.
  • Trial period: 120 nights.
  • Shipping: Free shipping.
  • Brand’s firmness rating: 7.5/10, 9/10.
  • Our experience: Our testers feel sleeping on the Plank Firm is an “on top” of the mattress experience, which means there isn’t a lot of sinkage. Although this mattress comes in two firmness levels, our testers like the softer, quilted pillow top on the less firm side best.

Pros and cons

Pros Offers a high level of support. Mattress can be flipped to provide both firm and extra-firm options. Responsive design is great for combination sleepers. Strong edge support. Good balance of motion isolation and bounce. Comes in multiple RV king sizes. Cons May be too firm for side sleepers.

Why the Plank Firm is our pick for best firm mattress for an RV

The Plank Firm is a great choice for RV owners looking for a firm mattress because it offers a flippable design with two different firmness levels in three different RV king sizes. 

This mattress is also one of the more affordable picks on our list at $1,332 for a queen-size before discounts. 

Who may want to use the Plank Firm: Higher-weight (over 250 pounds) sleepers or anyone who likes a firmer mattress or is undecided about the level of firmness they need.

Who may want to avoid the Plank Firm: Lighter-weight (under 130 pounds) side and back sleepers who want contouring and pressure relief from their mattress.

Plank Firm tester insights

The Plank Firm is one of the firmest mattresses we’ve tested and is well-suited for higher-weight sleepers and people who need a lot of support from their mattress. Our testers rate it as an ideal pick for higher-weight sleepers of all styles due to its layers of high-density foam. Our testers note that lighter-weight side and back sleepers will most likely experience the Plank Firm as too firm but that lighter-weight stomach sleepers may appreciate how the surface of the mattress helps their hips stay lifted and their spine neutral. 

The Plank Firm comes rolled up inside a box for easy handling and setup.

One of our testers presses down on the edge of the Plank Firm to test edge support

From one of our Plank Firm testers:

“I find this mattress very easy to change position on because I don’t have to fight the material to move.”

Read more about Plank in our best firm mattress review and in our Plank Firm review.

How we test and choose the best mattresses for RVs

The Handbook Team has researched many mattresses online and in person and hand-selected about 130 (and counting) of the best models to test. We’ve also surveyed 1,200 total shoppers (in two 600-people surveys) and interviewed recent mattress customers to understand the buying process and how their new bed has impacted their sleep quality, physical health, and mental wellness.

According to our survey

According to our survey, about 80 percent of all respondents said their new mattress helps them sleep better, and 65 percent reported improved mental health.

of research
1000+   hours
of research
evaluated
130+   models
evaluated
consulted
21   experts
consulted

Our mattress testing process

Our Mattress Testing Process
Purchase mattress as mystery shoppers. Purchase mattress as mystery shoppers.
Set up mattress in testing lab. Set up mattress in testing lab.
Lie on mattress and rank firmness. Lie on mattress and rank firmness.
Lie on back, side, and stomach to find the best sleeping position. Lie on back, side, and stomach to find the best sleeping position.
Place 10-pound ball in mattress center and measure sinkage. Place 10-pound ball in mattress center and measure sinkage.
Find biggest pressure points using pressure map reading. Find biggest pressure points using pressure map reading.
Evaluate cooling capabilities by recording temperature differences. Evaluate cooling capabilities by recording temperature differences.
Drop 10-pound ball onto mattress to measure bounce score. Drop 10-pound ball onto mattress to measure bounce score.
Test motion isolation. Test motion isolation.
Test edge support. Test edge support.
Calculate composite “family” scores. Calculate composite “family” scores.

First-hand testing experience

The Handbook Team hand-tests every mattress we review. We evaluate brands and models by recording our findings on a 42-question standardized testing form to identify standout features and services, document issues with each product, and describe our personal experience lying on each mattress. 

For mattresses for RVs, we pay specific attention to factors like durability, ease of setup, materials used, price, and whether or not the mattress is available in smaller dimensions that are best suited to RVs. 

Mattress surveys and interviews

We pay close attention to specific considerations that sleepers of all ages seek, as identified by respondents in our surveys of 1,200 total people. These include price, features, and the setup process. We also interview real people to better understand the motivations behind shopping for a new mattress and the benefits of purchasing one. 

Objective and honest ratings

We use information from our surveys, focus groups, and expert interviews to determine the most important features in our brand and mattress testing scorecards. Our roundups cater to different needs, so we filter the best mattresses uniquely to fit each review.

We also weigh the following factors to determine an overall rating for each brand we recommend. 

FactorWeightDescription
Customer Service15 percentCustomer care center hours, support options
Brand Reputation10 percentYears in business, lawsuits & class actions against this company
Features20 percentSize options, firmness options, weight capacity, add-ons included (free sleep accessories)
User Experience35 percentWhite glove delivery, CERTIPUR-US certifications, risk-free trials
Affordability20 percentPrice, warranty, promotions

What is the difference between an RV mattress and a regular mattress? 

While there is no universal size for an RV mattress, mattresses used in RVs tend to be smaller and narrower than other standard mattresses. They’re designed to be more compact since space in RVs tends to be more limited than in a regular bedroom. Other designs, like custom bunk beds, pull-out beds, and pop-up beds, can also help save space in RVs.

What are the different RV mattress sizes? 

RV beds come in many sizes to accommodate different needs and RVs of different sizes. Some RV beds may even come in custom sizes to more precisely suit your space. While this list is not exhaustive, here are some of the more typical RV mattress sizes and size ranges.

RV bunk28–42 by 74–80 inches
RV full53 by 75 inches
Three-quarter48 by 75 inches
Short queen60 by 80 inches
RV queen60 by 75 inches
Short king72 by 75 inches
RV king70–72 by 74–80 inches
Eastern king (standard king)76 by 80 inches
RV California king 72 by 84 inches

How to choose a mattress for an RV

When choosing a mattress for your RV, you’ll want to consider its weight, price, and whether or not it comes packed inside a box for easy maneuverability and setup. Getting a good night’s rest while sleeping in an RV is crucial to maintaining alertness on the road. For this reason, you’ll also want to ensure your mattress is comfortable, suited to your unique sleep needs, and made with high-quality materials. 

Durability is also important. Look for materials like high-density foams and natural latex. Hybrid mattresses may maintain their shape due to the combination of coils and foam.

Depending on your space, you may want a standard-size mattress or look for specific space-saving RV sizes with smaller dimensions. Custom mattresses for RVs are also available and can be specifically designed to your particular RV’s size. 

Furnishing an RV can be expensive, so finding an affordable mattress that fits your budget may also be a major factor.

Our final verdict

After considering factors such as ease of setup, price, and overall quality, we’ve determined that the Brooklyn Bedding Signature Hybrid is the best mattress for an RV overall. This mattress stands out for its great scores in pressure relief, affordability, and RV-specific sizing to suit RV owners’ unique spatial needs. 
Following the Brooklyn Bedding Signature Hybrid, we chose the Helix Midnight Luxe, the Nolah Signature, the Titan Plus, and the Plank Firm, all of which can be delivered in a box to make RV  setup easier. 

Compare the best mattresses for RVs of 2024

Price range $665–$1,599 $1,373.80–$2,873.80 $1,299–$2,798 $699–$1,598 $749–$1,698
Our firmness rating* 6/10 5.5/10 7.5/10 8/10 9/10
Material Hybrid Hybrid Foam Hybrid Foam
Warranty (years) 10 15 Lifetime 10 10
Trial period (nights) 120 100 120 120 120
Recommended for Back and side sleepers Side, back, and stomach sleepers All sleepers Back, stomach, and combination sleepers Back and stomach sleepers

*Our firmness rating is based on hands-on testing

Frequently asked questions

While you can use any mattress that works best for the size of your RV, some mattresses are explicitly designed for RV users that come in a smaller width. You can also find mattresses that pop up, pull out, and are designed like bunk beds to help save space in your RV.

To clean your RV mattress, you’ll want to vacuum it to remove debris, spot-clean any spills or stains, deodorize it using baking soda, air it out as much as you can by either opening a window or taking it outside and laying it down on a clean surface, and regularly washing your bedding.

To save space, most RV mattresses are designed to be used without a box spring.

  1. Sleep Deprivation. Cedars Sinai. (n.d.). Link
  2. Lowrie, J., Brownlow, H. The impact of sleep deprivation and alcohol on driving: a comparative study. BMC Public Health 20, 980 (2020). Link