8 Best Class B RVs For Full-Time Camping

If you’re craving absolute freedom and non-stop adventure, vanlife may be for you. And you’re in the right place to find the perfect compact home on wheels to make your dreams a reality. We’re excited to share a list of best Class B RV vans for full-timing it. Let’s hit the highway in the best Class B motorhome.

Built on nimble van chassis, the best rated Class B RV units deliver ultimate maneuverability to roam off the beaten path, without sacrificing living amenities. We’ll explore most reliable Class B RV models with clever layouts and features tailored specifically for full-timers.

Best Overall Class B RV: Thor Motor Coach Sequence 20A

At a glance:

• Sleeping Capacity: 2
• Length: 21′ 1″
• GVWR: 9,350 lbs
• Starts at: $144,760

Why we love it:

The Motor Coach Sequence 20A is arguably the best Class B RV on the market. In just 21 feet, this camper van packs in everything you need for comfortable camping, all at an incredibly affordable price.

Starting under $145k, the Sequence is a steal compared to other Class Bs. We love that it comes solar-ready and has a large, wet bath; small luxuries that make a big difference. 

With sleeping for two in a rear bedroom, a spacious interior, and a dinette, it’s good for both month-long camping and weekend getaways.

While the warranty is just 2 years, that’s typical for most RVs. For the money, you can’t beat the Sequence’s value and call it the best Class B camper van.

Pros

• Relatively affordable
• Sleeps two comfortably
• Spacious interior with wet bath
• Solar-ready
• Ram ProMaster 3500 chassis is easy to drive

Cons

• Only a 2 year limited warranty
• No slide-outs or larger floor plans available

Most Affordable Class B RV: Pleasure-Way Tofino

At a glance:

• Sleeps: 4
• Length: 17′ 9″
• GVWR: 8,550 lbs
• Starts at: $94,250

Why we love it:

We were thrilled to discover the Pleasure-Way Tofino, the best Class B RV under $100k. Also, there’s currently a $5,000 rebate available!

At just 17′ 9″ long, this camper van packs in an impressive amount of livability without breaking the bank. Built on a Ram ProMaster 1500, the Tofino easily sleeps four, thanks to a convertible sofa bed and the pop-top roof that reveals a cozy bunk bed. 

The well-designed galley includes a sink, induction cooktop, and fridge. While it lacks a bathroom, the smart interior storage and swiveling front seats maximize usable space.

For the price, the standard features are fantastic: swivel solar panels, touch screen control panel, propane, and CO detectors. It delightfully blends affordability and functionality into one little livable package.

Pros

• Very affordable starting price under $100k
• Sleeps up to 4 people
• Well-designed galley and storage
• Good list of standard features

Cons

• No bathroom facilities
• Limited customization from factory

Best Class B RV Under 25 feet: Coachmen Galleria 24A

At a glance:

• Sleeps: 2
• Length: 24′ 3″
• GVWR: 11,030 lbs
• Starts at: $220,907

Why we love it:

When comparing all the Class B motorhome manufacturers, Coachmen is always a reliable name. And the Galleria 24A line rises above for seamlessly blending luxury features with sustainability. It’s a top choice for a compact motorhome.

Built on a Mercedes Sprinter, the Galleria impressively packs in must-have amenities like a powered awning, WiFiRanger, and a comfortable queen bed converted from the sofa in a smaller footprint. 

The well-equipped kitchen has a pedestal table and everything you need to cook meals on the road. It even has a bathroom with toilet and shower, a rare find in a small Class B.

We love that it has Mercedes’ BlueTEC clean diesel engine, allowing reducing environmental impact without compromising power or range. 

Starting around $220k, the Galleria 24A is the best Class B RV for the money. While the warranty isn’t long, the Galleria is built to last.

Pros

• Superb build quality
• Diesel engine is more environment friendly
• Toilet has a separate shower
• Has a powered awning

Cons

• Accommodates only two people
• Expensive

Smallest Class B Motorhome: Airstream Interstate 19

At a glance:

• Sleeps: 2
• Length: 19′ 5″
• GVWR: 9,050 lbs
• Starts at: $200,681

Why we love it:

Although the Pleasure-Way Tofino is probably the smallest model available right now, Airstream Interstate 19 is a good choice if you want a compact Class B with a bit more amenities and luxury features. 

The Interstate 19 could be your first pick when you’re looking for the smallest Class B RV with shower and toilet.

The campervan packs a number of luxurious amenities into its compact frame. What makes the Interstate 19 truly stand out is its beautiful, thoughtfully designed interior that feels open and airy, despite the small footprint. 

One of our favorite features is the convertible sofa and side seats that transform into the largest bed in its vehicle class. This ensures a good night’s sleep while maximizing living space during the day. 

The modern mini-kitchen is impressive, complete with everything needed to cook up delicious meals at the campsite. The inclusion of a European-style wet bath with separate shower, toilet, and sink is a welcome luxury you don’t always find in a smaller motorhome. 

Pros

• Compact size is easy to drive and park
• Wet bath with separate shower and toilet
• Modern, beautiful interior design
• Mini kitchen is well equipped

Cons

• Limited storage and counter space due to small size
• Only sleeps 2 people maximum

Best Class B RV for Full Time Living: Winnebago Revel 44E

At a glance:

• Sleeps: 2
• Length: 19′ 7″
• GVWR: 9,050 lbs
• Starts at: $210,293

Why we love it:

Though not cheap, the Revel is well worth the investment thanks to its spacious, thoughtfully-designed living space and wealth of top-notch amenities. At nearly 20 feet long, the 4WD unit provides ample room to live and store gear. 

The power Murphy bed comfortably sleeps two while freeing up floor space during the day. There’s storage for bikes, boards, and outdoor equipment in the garage, plus a full wet bath and a well-equipped kitchenette. With swivel cab seats, a removable dining table, and a multi-functional wet bath, the Revel makes the most of its square footage.

Built on a rugged Mercedes 4×4 Sprinter chassis, the Revel can handle off-grid adventures while the diesel engine provides power and efficiency. Solar panels, ample tank capacities, clever storage arrangements enable off-grid living.

Pros

• Spacious layout with Murphy bed to maximize living space
• Off-road capable 4WD Mercedes Sprinter chassis
• Large garage storage for gear, bikes, boards, etc.
• Full wet bath and kitchenette for off-grid living
• Powerful diesel engine provides efficiency
• Solar panels and amenities suit full-time living

Cons

• Expensive price point for a small Class B
• Limited to 2 people sleeping
• Wet bath leaves minimal room for changing

Best Class B RV for Family of 4: Leisure Travel Vans Wonder RTB

At a glance:

• Sleeps: 4
• Length: 24′ 9″
• GVWR: 11,000 lbs
• Starts at: $176,960

Why we love it:

At just under 25 feet long, this thoughtfully designed motorhome packs in everything we need without feeling cramped. 

What really makes the Wonder RTB perfect for a family is the separate rear bedroom with convertible twin beds. The kids love having their own space to spread out in. When needed, we can join the twins together to make a roomy king bed for mom and dad.

The full bathroom with an enclosed shower means a hassle-fee morning session. And the large galley kitchen is ideal for preparing meals for a hungry family. We have room to gather around the dining table for card games after dinner too.

With storage for our outdoor gear and bikes, plus its easy driving size, the Wonder RTB has become our adventure basecamp. We never feel limited in the activities we can do together as a family.

Pros

• Sleeps up to 4 people comfortably
• Rear bedroom with convertible twin beds
• Full bathroom with enclosed shower
• Large galley kitchen for cooking
• Exterior storage for gear and bikes

Cons

• No slide outs to increase interior space

Most Fuel Efficient Class B RV: Airstream Rangeline

At a glance:

• Sleeps: 2
• Length: 21′
• GVWR: 9,350 lbs
• Starts at: $147,570

Why we love it:

Built on a Ram ProMaster chassis with a fuel-sipping 3.6L V6 engine, this campervan achieves 18-20 estimated MPG on the highway. That’s incredible fuel economy for a motorhome with full amenities for comfortable travel and camping.

Despite its compact 21-foot length, the Rangeline doesn’t compromise on features. The well-appointed galley kitchen, versatile removable table, and standard full-size bed make spending time aboard a pleasure. And with its solar panels, lithium battery bank, and heated tanks, it’s ready for year-round adventure.

Another advantage is the Rangeline’s 3,500-pound towing capacity. Combine that with the Ram ProMaster’s easy drivability and parking, and you’ve got an efficient and capable Class B.

Pros

• Excellent gas mileage for a Class B
• Ram ProMaster V6 engine
• Year-round use enabled by heated tanks, furnaces, etc.
• Standard solar power and lithium battery bank

Cons

• Wet bath could be inconvenient
• Sleeps only two people

Best Luxury Class B RV: Airstream Atlas­ Murphy Suite

At a glance:

• Sleeps: 2
• Length: 24′
• GVWR: 12,125 lbs
• Starts at: $310,400

Why we love it:

The Murphy Suite embodies the pinnacle of luxury van life as it’s one of the most expensive Class B RV models. Its interior layout truly maximizes the living space, with a slide-out bed for sleeping. 

There is also a fully-equipped kitchen and bathroom. We can cook up gourmet meals on the two-burner stove and relax in the well-designed interior that feels open and airy. 

From the diesel generator to the powered patio awning, climate control system, and other top-tier features, Airstream leaves no detail overlooked.

And of course, with Airstream’s decades of experience building iconic RVs, we know that this unit is crafted to the highest quality standards. The Mercedes chassis provides performance and handling when driving to remote destinations. It’s built to indulge your adventurous spirit in style.

Pros

• Slide-out Murphy bed maximizes living space
• Fully-equipped kitchen 
• Full bathroom with shower, toilet, and sink
• Excellent Airstream quality and luxury appointments
• Powered patio awning and climate control system
• Open, airy interior layout feels spacious

Cons

• Very expensive starting price tag
• Only sleeps up to 2 people

Class B RVs Buying Guide

What is a Class B RV?

A Class B RV, also known as a camper van, is a compact recreational vehicle that embodies the essence of wanderlust. It is built on a standard van chassis, giving it a sleek and unassuming exterior that resembles an oversized van rather than a traditional motorhome. This compact design is a significant departure from its larger counterparts, Class A and Class C RVs

Class B RVs are designed for functionality within a limited space. Inside the modest dimensions of a Class B, you’ll find carefully crafted living amenities that cater to the essentials of life on the road.

A typical Class B RV includes a compact kitchenette with a sink, a small stove or cooktop, and a refrigerator. There’s often a bathroom onboard as well, sometimes with a combined shower and toilet. The interior is thoughtfully designed to make the most of every inch, often featuring convertible furniture that serves as both seating and sleeping areas.

Class B RVs are a popular choice for RVers who want a small and easy-to-drive RV that still offers the essential amenities for comfortable living on the road.

The Pros and Cons of Class B RVs

Class B RVs offer a variety of benefits to RV campers:

Maneuverability: The primary advantage is ease of handling. Their size allows for easy parking, making them suitable for city travel and tight camping spots.

Versatility: Their smaller footprint doesn’t restrict them to RV parks. They can be used for regular trips, weekend getaways, or as a backup accommodation for guests.

Easy parking: Parking a Class B RV is much simpler compared to larger motorhomes. You can park in regular parking spaces, making it convenient when exploring towns and cities or running errands.

Economic: Their fuel efficiency means lower travel costs. Additionally, repair & maintenance costs tend to be lower than their larger counterparts while they share many mechanical components with regular vans, which are widely available. 

Minimal setup: Class B RVs require less setup compared to tents or larger RVs. You can quickly settle into your living space without the need for extensive leveling or complex systems.

On the other hand, there are also some limitations that RV enthusiasts need to consider when looking for a Class B motorhome. 

Limited space: While they are marvels of design optimization, there’s no getting around the fact that space is limited, especially when compared to Class A or C RVs. They’re not suitable for large families.

Initial investment: Interestingly, Class B RVs, given their specialized designs, often have a price point that’s comparable to, or sometimes even higher than, larger RVs with amenities. 

How Do They Compare with Class A and Class C RVs

Class A motorhomes

Class A motorhomes are the largest and most luxurious type of RV. They are built on a specialized chassis and resemble a big bus or coach. Class A motorhomes offer extensive interior space and a wide range of amenities, including:

• Full kitchens with all the appliances you need to cook and eat on the road
• Spacious bathrooms with showers, toilets, and sinks
• Separate sleeping areas for everyone in your family
• Entertainment systems with TVs, DVD players, and stereos
• High-end finishes and furnishings
• Slide-out sections that expand living spaces
• Generous storage options

While providing a luxurious and comfortable living experience, Class A motorhomes can be expensive to purchase and maintain. A class A RV can cost hundreds of thousands of dollars, which is a huge investment.

Class A motorhomes are a great choice for large families or travelers who prioritize space, comfort, and a home-like environment on the road. They are also often chosen by full-time RVers or those seeking a lavish travel experience.

Pros

• More spacious and luxurious
• More amenities
• Can accommodate more people
• More comfortable for long-term RVing
• Higher towing capacities, can tow a vehicle behind.

Cons

• Much more expensive to purchase
• Not as maneuverable in tight spaces or in cities
• Less fuel-efficient than Class B RVs
• Requires larger spaces, often limiting where you can park.

You may also like: 10 Best Diesel Motorhomes For The Money

Class C motorhomes

Class C motorhomes are a versatile option for RVers who want a balance of interior space and amenities. They are built on a truck chassis and feature a distinctive cab-over design, which gives them a smaller profile than Class A motorhomes. Class C motorhomes typically include:

• A comfortable living area with a sofa, chairs, and a table
• A kitchenette with a stove, oven, refrigerator, and sink
• A bathroom with a shower, toilet, and sink
• Sleeping accommodations for up to four people

The cab-over area is often used as an extra sleeping space for children or additional storage space. Class C motorhomes are a good choice for couples, small families, or those who want a more compact RV that is still comfortable and functional, as they are a good compromise between the size and amenities of Class A and Class B RVs.

Pros

• Provide more interior space and amenities than class B RVs
• Offer better sleeping capacity due to the cab-over design when comparing with class B RVs
• Class C motorhomes are even more affordable.

Cons

• Less fuel-efficient than Class B RVs.
• More challenging to navigate than a Class B but easier than a Class A.
• Higher maintenance cost

Read more: 10 Best Class C Motorhomes

Who Should Opt for a Class B RV?

The special characteristics of Class B motorhomes make them a popular choice among some groups of travelers:

Couples or small families: Class B RVs are a good choice for solo travelers, couples or small families who want a compact and easy-to-drive RV. They offer enough space for two people to sleep comfortably, and they can also accommodate a child or two in a bunk bed.

City dwellers: Those living in urban environments might find storing and maneuvering larger RVs challenging. The compact nature of Class B RVs allows for easier parking in city settings, making it a more practical choice for urbanites wanting an escape vehicle for weekend getaways. They can be parked in a driveway or garage, and they take up less space than a larger RV.

Minimalists: If you’re looking to travel light and experience the joy of living with less, a Class B RV is a great option. The limited space of a Class B RV requires travelers to adopt a minimalist mindset. Those who prefer simplicity, carrying only essential items, and relishing the challenge of optimizing small spaces will find Class B RVs appealing. 

First-time RVers: If you’re new to the world of RVs, starting with a Class B can be a wise decision. They offer a good compromise between size and amenities. They are also relatively easy to drive and operate, offering a gentler introduction to RV travel. 

Environmental enthusiasts: A smaller vehicle typically means a smaller carbon footprint. With smaller size, Class B RVs tend to be more fuel-efficient than their larger counterparts, making them a greener choice for environmentally conscious travelers.