The Ultimate 5-Day Florida Keys RV Itinerary (Key Largo to Key West)
Planning a Florida Keys RV trip? This 5-day Florida Keys RV itinerary covers the best campgrounds, drives, and things to do from Key Largo to Key West.
Dreaming of driving your RV through the Florida Keys with turquoise water on both sides of the road?
This is one of those bucket-list RV road trips that actually lives up to the hype, and I say that as someone who’s driven through 40+ states in a Super C motorhome. The Florida Keys are different. The drive down the Overseas Highway alone is worth the trip.
Planning a bigger adventure? The Florida Keys is just one stop on an incredible cross-country journey. Check out our complete guide to RV travel across America for more inspiration.
Florida Keys RV Trip Quick Planning Guide
Don’t have time to read everything right now? Here’s the quick version:
Where to Camp:
- Fiesta Key RV Resort – Long Key (full hookups, waterfront)
- Boyd’s Key West Campground – Key West (closest campground to Old Town)
- KOA Sugarloaf Key — Sugarloaf Key, MM 17 (just 17 miles from Key West)
Fuel Savings:
- Upside App — cash back on gas
- MudFlap — diesel discounts and $10 free fuel for signing up through my link
- Open Roads — diesel fuel savings
Campground Memberships:
- Harvest Hosts — unique overnights near the Keys
- Thousand Trails — Fiesta Key is a TT property
- KOA — Sugarloaf Key, right outside Key West
Things to Do:
- Feed the tarpon at Robbie’s of Islamorada
- Walk the Old Seven Mile Bridge
- Watch the sunset at Mallory Square, Key West
- Snorkel at John Pennekamp Coral Reef State Park
RV Gear for This Trip:
The Florida Keys are hard on gear and easy on your wallet if you pack right before you go. I’ve put together everything we actually use and recommend for a Keys RV trip in my Amazon storefront.
Skip the overpriced tourist shops and grab it all before you leave home. Shop my Florida Keys RV packing list on Amazon →
Florida Keys by RV: The Complete 5-Day Itinerary for Big Rigs
In this post, I’ve put together a complete 5-day Florida Keys RV itinerary covering everything from where to park your rig and which campgrounds are worth it to the best stops between Key Largo and Key West.
Whether you’re a full-timer passing through Florida or you’ve specifically planned this adventure, this itinerary will help you make the most of every mile.
Let’s hit the road.
Is Driving an RV Through the Florida Keys Possible?
Yes, with planning…but let me be straight with you about Key West specifically.
The Overseas Highway (U.S. Route 1) runs 113 miles from Florida City to Key West across 42 bridges, and it is absolutely drivable in most RVs. The highway itself is wide, well-maintained, and handles big rigs just fine. Key West is a different story.
The streets in Old Town are narrow, tourist-congested, and genuinely not navigable in a large motorhome or fifth wheel. You will not be driving your rig through Key West, and you don’t need to.
The plan is to camp outside the city and use your toad or a bike to get in.
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Here’s what you need to know before you go:
- Class A, Class C, and Super C motorhomes are fine on the Overseas Highway. Camp at KOA Sugarloaf Key (MM 17) or Boyd’s Key West Campground and drive your toad into Old Town.
- Fifth wheels and travel trailers do fine on the highway, but watch for wind exposure on the bridges, especially the Seven Mile Bridge. Cross in calm conditions when possible.
- Slide-outs: Many Keys campgrounds have narrow sites. Know your slide clearance before booking.
- Height: Most bridges along US-1 have no height restrictions, but always verify your specific campground entrance.
Pro Tip: Drop your toad at camp and use it as your Key West car. Parking an RV in Key West isn’t just hard; it’s basically impossible. Plan for this before you arrive, not after.
How to Get to the Florida Keys in an RV
The only way in (and out) of the Florida Keys by road is the Overseas Highway (US-1), entering from Florida City on the mainland. From there, it’s a straight shot south to Key West.
Drive times from common RV staging points:
- Miami → Key Largo: ~1.5 hours (with RV)
- Orlando → Key Largo: ~4.5 hours
- Tampa → Key Largo: ~5.5 hours
Fuel heads-up: Gas prices in the Keys run higher than the mainland, sometimes significantly. Fill your tank in Florida City or Homestead before you cross onto the Keys.
Best time to drive in:
- Avoid Friday afternoons in the Keys, traffic can back up for miles
- Avoid Sunday afternoons out of the Keys for the same reason
- Midweek travel is ideal for RVers
Day 1: Arrive and Set Up Camp in Key Largo
Morning: Drive In and Get Your Bearings
Your Florida Keys RV adventure starts the moment you cross the Jewfish Creek Bridge into Key Largo, the first and largest key. Technically, you’re in the Keys, go ahead and feel a little proud of yourself.
Key Largo is the gateway to everything that makes the Keys special: crystal clear water, incredible marine life, and that unmistakable slow-it-down energy that makes full-time RV living feel even better.
For this itinerary, you’ll spend your first night in Key Largo or nearby, then work your way south over the next four days.
Afternoon: John Pennekamp Coral Reef State Park
Even if you’re not camping here, stop in for a few hours. John Pennekamp is home to the USA’s first undersea park and some of the best snorkeling on the East Coast. You can book a snorkel tour right from the park marina, rent a kayak, or simply walk the nature trails and watch the wildlife.
This is a great afternoon activity after the drive-in, low-key (pun intended), beautiful, and you don’t have to go far from camp.
Evening: Sunset and Settle In
After you’re set up at camp, take a short drive or walk to watch the sunset over the water. Key Largo doesn’t have a dramatic sunset celebration the way Key West does, but the light on the water here is stunning in its own quiet way.
Grab dinner at Mrs. Mac’s Kitchen, a Keys institution that’s been feeding locals and road trippers since 1976. The license plates covering the walls tell you everything you need to know about this place.
Where to Camp: Key Largo
John Pennekamp Coral Reef State Park is one of the most iconic campgrounds in Florida, and it’s worth trying to snag a site here. Sites are basic, but you’re literally inside the first undersea park in the United States. Book early — these sites go fast.
If Pennekamp is full (very common), Key Largo Kampground & Marina are solid alternatives with full hookups and waterfront access.
Harvest Hosts members: Check the app for stops in the Florida City / Homestead area if you want a free night before crossing into the Keys.
Day 2: Snorkeling and the Best of Islamorada
Morning: Move Camp to Islamorada (or Day Trip)
Just 30 minutes south of Key Largo is Islamorada, widely considered the sportfishing and snorkeling capital of the Florida Keys. If your campground allows it, this can be an easy day trip from Key Largo, but if you want to stay closer to the action, consider moving camp.
Morning: Snorkel Tour at Alligator Reef or Cheeca Rocks
The snorkeling in Islamorada is the best in the entire Florida Keys. That’s not an opinion; that’s just what the dive community will tell you. The Florida Keys National Marine Sanctuary protects the only barrier reef in North America, and the waters around Islamorada are incredibly clear.
Book a half-day snorkel tour through one of the local outfitters. Most depart from marinas along US-1 and will take you to Alligator Reef Lighthouse or Cheeca Rocks, both of which are alive with tropical fish, coral formations, and marine life.
Pro Tip for RVers: Wearing water shoes on the boat dock ramp is a good idea. Dock conditions vary, and flip-flops get slippery.
Afternoon: Robbie’s of Islamorada
No Florida Keys RV trip is complete without a stop at Robbie’s of Islamorada. For a few dollars, you get a bucket of bait fish and the absolute chaos that follows when you lean over the dock to feed the tarpon.
These fish are huge, fast, and absolutely wild. Kids and adults lose their minds equally. Get there before 10 am if you want to beat the tour buses.
While you’re there, poke around the vendor stalls, grab breakfast at the Hungry Tarpon restaurant (opens at 6:30 am, Bloody Marys are excellent), and check out the kayak and paddleboard rentals if you want more water time.
Evening: Sunset Dinner at Lorelei’s
End your day at Lorelei Restaurant & Cabana Bar in Islamorada. Look for the giant mermaid painted on the side of the building, you can’t miss it.
Sit on the bayside deck, order the fish dip, get a tropical drink, and watch the sun go down over the Gulf. Live music, great seafood, genuinely one of the best sunsets in the Keys.
Where to Camp: Islamorada:
Fiesta Key RV Resort & Marina is the most popular full-hookup campground between Islamorada and Marathon. It sits right on the water with its own private beach, boat ramp, and marina. Sites range from back-in to pull-through.
Day 3: The Seven Mile Bridge and On to Key West
Today is a driving day, but one of the best drives you’ll ever do in an RV.
Morning: Marathon and the Turtle Hospital
Pack up camp and head south through Marathon, the hub of the Middle Keys. Before you get back on the road, stop at The Turtle Hospital, a working sea turtle rehabilitation facility that offers guided tours. You’ll see injured turtles up close, learn about their rehabilitation, and leave feeling genuinely moved. Book your tour time in advance.
Midday: The Old Seven Mile Bridge
After the Turtle Hospital, continue south until you see the signs for the Old Seven Mile Bridge pull-off. Park your toad (or unhitch if you can find space) and walk out onto the old bridge.
This is one of those stops that makes the whole trip. Originally part of Henry Flagler’s historic Overseas Railway, the old bridge was converted to a roadway in the 1930s and now serves as a walking, biking, and fishing pier with some of the most spectacular views in all of Florida.
On a calm day, you can see spotted eagle rays, sharks, and stingrays in the water below.
Then cross the new Seven Mile Bridge in your RV, windows down, both sides of the road are open ocean. Bucket list moment.
For the bigger rig drivers: The Seven Mile Bridge is wide and well-maintained. Take it at normal highway speed and enjoy it.
Afternoon: Bahia Honda State Park
Just past the Seven Mile Bridge, Bahia Honda State Park is one of the most beautiful state parks in Florida and a worthy stop.
The beaches here have some of the finest sand in the Keys (unusual, most Keys beaches are rocky or mangrove), and the old Bahia Honda Rail Bridge offers a dramatic photo backdrop.
There is a day-use fee per vehicle. If sites are available and you’re flexible, this is also one of the most sought-after RV campgrounds in the state; waterfront sites book out months in advance.
Even a 30-minute stop is worth it.
Evening: Arrive in Key West
By late afternoon or evening, you’ll roll into Key West, the southernmost city in the continental United States and the anchor of this whole trip.
Where to Camp – Key West:
Boyd’s Key West Campground is close to Old Town and the go-to choice for RVers in Key West. The location is unbeatable; you can bike or take the free shuttle into Old Town from here. Sites accommodate up to 45 feet.
Pro Tip: Drop your toad or unhitch at camp and use that as your Key West vehicle. You do not want to navigate Old Town Key West in a 40-foot motorhome.
After check-in, head to Duval Street for dinner and your first taste of Key West energy. Sloppy Joe’s (Hemingway drank here), Blue Heaven (famous for breakfast but open for dinner), or Blackfin Bistro (best seafood) are all solid choices.
Day 4: Old Town Key West – History, Beaches, and a Sunset Cruise
Morning: Explore Old Town on Foot or Bike
Key West’s Old Town is best explored slowly, on foot or by bicycle. Most campgrounds rent bikes, and it’s the single best way to see the island.
Top stops in Old Town:
- The Ernest Hemingway Home and Museum – Tour the house, meet the famous six-toed cats, and see where Hemingway wrote some of his most celebrated work
- Southernmost Point Buoy – The most photographed landmark in Key West. Free to visit, expect a line for photos
- Key West Lighthouse – Climb 88 steps for panoramic views of the island and the water
- Harry S. Truman Little White House – The President’s favorite vacation spot, now a museum with excellent guided tours
- Mallory Square – Come back here at sunset, but it’s worth a daytime walk too
Start your morning at Blue Heaven for breakfast. The lobster eggs Benedict is worth whatever wait you encounter, and Key lime pie before noon is completely acceptable here.
Afternoon: Beach Time
Key West has a few good beach options, which surprises people who assume the whole Keys coastline is swimmable. It’s not much of the shoreline that is rocky or mangrove.
Smathers Beach is your best bet for a classic white sand beach experience. It’s long, free, and calm enough for swimming and paddleboarding. Bring your beach chairs from the RV; you’ll want them.
Fort Zachary Taylor State Park is the other option: small entry fee, but the water is beautiful, snorkeling from shore is possible, and the historic Civil War fort is worth a walk-through.
Evening: Sunset Cruise
One of the best things you can do in Key West is watch the sunset from the water. Several companies run 2-hour sunset sail tours that include an open bar, appetizers, and live music. It’s genuinely spectacular.
Book in advance; these fill up fast, especially on weekends.
Alternatively, the Mallory Square Sunset Celebration is the legendary free option: street performers, live music, food vendors, and hundreds of fellow sunset-chasers gathered at the western tip of the island every single evening. The sailboats passing through the frame as the sun goes down are iconic.
Day 5: Last Morning in Key West and the Drive Home
Morning: Key Lime Pie and Last Walks
Your last morning in Key West should be slow. Walk Duval Street before the crowds hit. Pick up souvenirs. Find a coffee shop and sit outside for a bit.
Before you leave, eat the key lime pie. Specifically, try the chocolate-dipped key lime pie on a stick from Kermit’s Key Lime Pie Shop on Greene Street. It will ruin all other key lime pies for you forever. This is fine.
If you want one more activity, the Key West Butterfly and Nature Conservatory is a peaceful, beautiful hour-long walk through a glass conservatory full of free-flying butterflies and tropical birds.
The Drive Home
When you’re ready to leave, retrace the Overseas Highway back north. The drive out of the Keys is just as beautiful as the drive in; the light is different heading north, and you’ll notice things you missed on the way down.
Fuel tip: Fill your tank in Key West before you leave (Boyd’s area or the Marathon corridor), and use the Upside app or Mudflap app (get $10 in free fuel) for diesel to stack cash back on your fill-up.
If you have time on the way out:
- Stop at the Florida Keys Overseas Heritage Trail marker in Marathon for a photo
- Grab stone crab claws at Keys Fisheries in Marathon if the season is right (October–May)
- Visit the History of Diving Museum in Islamorada, genuinely one of the coolest small museums in Florida
RV Packing List for the Florida Keys
The Florida Keys are hot, humid, and sun-intense most of the year. Pack accordingly.
1. High-SPF Reef-Safe Sunscreen – Required for snorkeling in the Florida Keys National Marine Sanctuary. Many campgrounds and tours enforce reef-safe sunscreen rules.
2. Snorkel Gear – If you have your own, bring it. Tours provide gear, but having your own mask means a better fit and no sharing.
3. Bike or Bike Lock – Key West is a bike town. Either bring your RV bike or plan to rent. A good folding bike lock is worth having.
4. Portable Water Pressure Regulator – Some older campground hookups in the Keys run high water pressure. A pressure regulator protects your RV’s water system.
5. Bug Spray – Mosquitoes and no-see-ums are real in the Keys, especially near mangroves at dusk. Thermacell is a must-have for outdoor dining at your campsite.
6. Polarized Sunglasses – The water glare in the Keys is intense. Polarized lenses let you actually see into the water and spot the marine life below.
Final Thoughts on the Florida Keys RV Trip
After nine years of full-time RV living and 40+ states under our wheels, the Florida Keys remains one of the trips I point people to first when they ask where they should take their RV.
It’s accessible, the drive is stunning, the campgrounds are manageable, and the combination of water activities and laid-back town culture is hard to beat anywhere in the country.
If you’ve been putting it off because the bridges seem intimidating or you’re not sure your rig can handle it, stop waiting.
Do the All-or-Something version: go for a long weekend, park in Key Largo, and see how you feel. You’ll be back planning the full run within a month.
Have questions about taking your specific rig through the Keys? Drop them in the comments; I’m happy to help.
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Florida Keys RV Trip FAQs
Five days is the sweet spot for first-timers who want to cover Key Largo, Islamorada, Marathon, and Key West without feeling rushed.
Seven days give you more breathing room, especially if you want to stay in one area and really explore. A weekend trip to just Key West or just the Upper Keys can also work, but you’ll leave wanting more.
Most RV sizes are fine on the Overseas Highway itself, including large Class A motorhomes and fifth wheels. The bigger concern is campground site access.
Boyd’s Key West accepts rigs up to 45 feet, but sites are compact. Always call ahead and confirm your length, slide configuration, and height clearance with any campground before booking.
Yes. The Seven Mile Bridge is a modern, well-maintained highway bridge with wide lanes. It’s one of the most exciting drives in an RV you’ll ever do. Just keep your eyes on the road because the views are distracting.
Harvest Hosts locations are more common in the Florida mainland and the Florida City / Homestead area just north of the Keys. Options within the Keys themselves are more limited, so check the app before your trip and plan any Harvest Hosts stays for your staging nights before or after the Keys leg of your trip.
Gas stations exist throughout the Keys, but prices are notably higher than the mainland, sometimes $0.50–$1.00 more per gallon. Fill your tank in Homestead or Florida City before you cross in. Carry the Mudflap app and Upside app for cash back on fuel wherever you stop. Marathon has the best mid-Keys fuel prices.
It depends on what you’re looking for:
Best overall experience: Bahia Honda State Park (books months out)
Best location for Key West access: Boyd’s Key West Campground
Best full hookup waterfront option: Fiesta Key RV Resort (KOA)
Best for nature lovers: John Pennekamp Coral Reef State Park
