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RVRouteplan

Milwaukee to McAllen by RV

Milwaukee, WI to McAllen, TX is 1,531 miles, about 27h 00m of driving at RV pace — 4 days at 6 hours a day, with 3 nights on the road. It crosses Wisconsin, Missouri, Oklahoma and Texas. Membership parks near the overnight stops: 12 Thousand Trails, 10 RPI, 5 KOA and 172 Good Sam.

Map of the RV route from Milwaukee, WI to McAllen, TX

Day by day

Daily legs and membership parks near each stop
DayDriveMembership parks near the stop
Day 1 Milwaukee → St. Louis, MO
383 mi · about 6h 48m
  • Granite City KOA Journey KOA · 12 mi
  • DraftKings at Casino Queen RV Park Good Sam · 4 mi
  • St Louis West / Historic Route 66 KOA Holiday KOA · 25 mi

2 KOA, 22 Good Sam within 40 mi
Day 2 St. Louis → near Wagoner, OK
383 mi · about 6h 48m
  • Terra Starr RV Park RPI · 39 mi
  • Tulsa NE Will Rogers Downs KOA KOA · 29 mi
  • Arkansas River - COE/Afton Landing Good Sam · 4 mi

1 RPI, 2 KOA, 49 Good Sam within 40 mi
Day 3 near Wagoner → Belton, TX
378 mi · about 6h 48m
  • Leander/NW Austin KOA KOA · 40 mi
  • Belton Lake - COE/Live Oak Ridge Good Sam · 1 mi
  • Stillhouse Hollow Lake - COE/Union Grove Good Sam · 1 mi

1 KOA, 40 Good Sam within 40 mi
Day 4 Belton → McAllen, TX
387 mi · about 6h 36m
  • Alamo Palms Thousand Trails · 6 mi
  • Alamo Palms RV Resort RPI · 6 mi
  • Sunlight Travel Trailer Park Good Sam · 1 mi

12 Thousand Trails, 9 RPI, 61 Good Sam within 40 mi

Stops are where 6 hours of RV driving ends each day; the planner lets you move them, add via stops and pick the campgrounds.

Restrictions for big rigs

For a rig 13′6″ tall and 8′6″ wide, carrying propane, the route avoids every height, width and propane-tunnel restriction we know of.

Plan it with your own rig’s dimensions to check yours. What we check

Plan this route for your rig

Campgrounds in the states along the way

Related routes