Florida Roadtrip Itinerary: Can’t-Miss Stops for RVers 

There are few states better suited for a great American roadtrip than Florida. With nearly 3,500 miles of interstate and over 265,000 miles of roads and highways, the Sunshine State is made for exploring. 

 

Whether you’re cruising along the Gulf Coast, weaving through historic towns, or chasing the sunset down the Overseas Highway, every mile offers something new to discover. From white-sand beaches and world-famous theme parks to wildlife-filled wetlands and laid-back islands, Florida has a little bit— scratch that, a lot— of everything.

 

But with a state so large and jam-packed with activities, it can be hard to determine where to start and where to stop. In this guide, we’ll take you through some of the must-see destinations that you won’t want to miss!

Florida Roadtrip Stop #1: The Emerald Coast

If you’re looking for a place to start your Florida RV roadtrip, look no further than the Emerald Coast. 

 

Tucked along the Florida Panhandle, the Emerald Coast stretches from Pensacola to Panama City Beach and offers some of the most breathtaking shorelines in the state. This region is famous for its emerald-green waters and sugar-white sand beaches, a result of finely ground quartz that washes down from the Appalachian Mountains. 

 

With a mix of quaint beach towns, outdoor adventures, and world-class fishing, the Emerald Coast is the perfect way to kick off any Florida roadtrip.

What to Do Along the Emerald Coast

Relax on the beaches: The Emerald Coast is home to some of Florida’s most beautiful beaches. Head to Henderson Beach State Park in Destin for a quiet, undeveloped shoreline, or visit Grayton Beach State Park for a more secluded, nature-filled experience.

 

Explore scenic 30A: Remember all those miles of highway we talked about in Florida? This is one of the best. Take a drive along Highway 30A, a picturesque stretch of road lined with quaint beach towns like Seaside, Rosemary Beach, and Alys Beach. Along the way, stop to explore local boutiques, bike along coastal trails, or grab a bite at a waterfront café.

 

Go deep-sea fishing in Destin: Known as the “World’s Luckiest Fishing Village,” Destin is one of the top places in the country for deep-sea fishing. With so many charter options around, you don’t need to worry about bringing your own gear.

 

Take a dolphin cruise or snorkeling tour: The waters of the Emerald Coast are full of marine life. Join a boat tour from Destin or Panama City Beach to see dolphins in the wild or snorkel in the crystal-clear waters at St. Andrews State Park.

Where to Stay on the Emerald Coast

The Emerald Coast is packed with RV resorts, campgrounds, and state park stays, making it easy to find a great place to park your rig. Whether you want to stay right on the beach, near a lively town, or nestled away in a peaceful nature setting, you’ll have plenty of options.

Florida Roadtrip Stop #2: St. Augustine

If you love history, charming streets, and a little bit of ghostly lore, St. Augustine is a stop you won’t want to miss.

 

Sitting on Florida’s northeast coast, this city holds the title of the oldest continuously inhabited European settlement in the United States, dating back to 1565. But don’t let the history fool you— St. Augustine is far from boring. The city is packed with gorgeous Spanish architecture, quirky museums, stunning coastal views, and plenty of great food and drink spots to keep your roadtrip interesting. 

What to Do Along the Emerald Coast

Wander the historic district: Strolling through historic St. Augustine feels like stepping back in time. St. George Street is a pedestrian-only street in the heart of the action, filled with boutiques, cafés, and historic landmarks. 

 

Explore the Castillo de San Marcos: This massive 17th-century Spanish fort sits right on the waterfront and offers some of the best views in town. Walk through its old stone corridors, watch a cannon demonstration, and learn about the battles and pirate raids that shaped the area.

 

Visit the St. Augustine Lighthouse & Maritime Museum: Up for climbing 219 steps? The St. Augustine Lighthouse rewards you with an incredible panoramic view of the coastline. 

 

Take a ghost tour: This may not be a typical roadtrip activity, but we promise it is worth it! St. Augustine is considered one of the most haunted cities in the country, so if you love a spooky story, a nighttime ghost tour is a must. Walk through ancient graveyards, visit haunted buildings, and hear eerie tales of the city’s past. It’s a great way to learn about the city through a different lens!

Where to Stay on the Emerald Coast

Like the Emerald Coast, St. Augustine has a solid mix of RV resorts, campgrounds, and unique stays depending on how close you want to be to the action. If you want to stay near the beach, there are campgrounds close to Anastasia State Park, while those looking for a quieter retreat in nature can find options along the marshlands just outside of town.

Florida Roadtrip Stop #3: Orlando

Next stop, Orlando! 

 

When most people think of Orlando, their minds immediately go to theme parks— and rightly so. The city is a wonderland for kids and the young at heart. But if roller coasters and costumed characters aren’t your thing, don’t write off this city just yet. 

 

Orlando is packed with natural springs, cool neighborhoods, and some of the best food and nightlife in Florida. Plus, it’s smack in the middle of the state, making it an easy stop on a Florida roadtrip.

What to Do in Orlando

Experience the theme parks: Orlando is home to some of the most famous theme parks in the world. If you’re up for a little adventure, you can spend a day (or more) at Walt Disney World, Universal Orlando, or SeaWorld. Even if you’re not a big theme park person, Universal’s CityWalk and Disney’s Disney Springs offer fun dining, shopping, and entertainment options without an admission ticket.

 

Explore Winter Park: Just north of downtown, Winter Park feels like a completely different world from the tourist-heavy parts of Orlando. You can stroll under massive oak trees, browse the boutiques and cafés on Park Avenue, or take a scenic boat tour through the neighborhood’s interconnected lakes.

 

Visit Wekiwa Springs State Park: If you want to trade city life for nature, Wekiwa Springs is a must. Just a short drive from Orlando, this park has crystal-clear natural springs, hiking trails, and plenty of spots to swim, kayak, or paddleboard.

 

Visit Kennedy Space Center: The Kennedy Space Center on the “Space Coast” is one of Florida’s coolest attractions. You can see real space shuttles, meet astronauts, and even watch a rocket launch if your timing is right.

Where to Stay in Orlando

Orlando has plenty of options both close to the city or a little more tucked away. If you want a themed experience, there are several RV-friendly resorts, such as Disney’s Fort Wilderness. But if you’re skipping those, you might want to stay somewhere closer to Winter Park or Wekiwa Springs for easy access to nature without being too far from the action of downtown.

Florida Roadtrip Stop #4: Fort Lauderdale

Nicknamed the Venice of America, Fort Lauderdale is all about life on the water. With its winding canals, beautiful beaches, and vibrant downtown, this city is a perfect stop for roadtrippers looking to stop, stay awhile, and soak up some classic South Florida sunshine. 

What to Do in Fort Lauderdale

Relax at a Fort Lauderdale beach: If you’re looking for a quieter alternative to Miami Beach, Fort Lauderdale beaches are the spot. The water is warm, the sand is soft, and the beachfront promenade is lined with shops, restaurants, and bars where you can grab a bite with an ocean view.

 

Take a water taxi ride through the canals: One of the best ways to see Fort Lauderdale is from the water. The Fort Lauderdale Water Taxi lets you hop on and off at various stops, from waterfront restaurants to Las Olas Boulevard. It’s like a scenic boat tour and a convenient way to get around.

 

Explore Las Olas Boulevard: This lively street is the heart of Fort Lauderdale’s shopping and dining scene. Walk along the boulevard to browse local boutiques, grab a coffee at a sidewalk café, or enjoy a fresh seafood dinner at a waterfront restaurant.

 

Go boating or paddleboarding: Whether you rent a kayak, paddleboard, or even a boat, Fort Lauderdale’s waterways are made for exploring. Try Hugh Taylor Birch State Park for a scenic paddle through mangroves, or cruise the New River to check out the city’s impressive waterfront mansions.

 

Take a day trip to Miami: Just a quick 30-minute drive south, Miami offers a totally different experience. Spend the day exploring the colorful streets of Wynwood, indulging in authentic Cuban food in Little Havana, or relaxing on the famous sands of South Beach. If you’re into art and history, check out the stunning Vizcaya Museum & Gardens or the Pérez Art Museum Miami. By evening, you can head back to Fort Lauderdale for a more relaxing night by the water.

 

Take an airboat tour in the Everglades: You can experience Florida’s world famous Everglades National Park without going far. Take an airboat tour to get up close to all things nature, including alligators, tropical birds, and native flora.

Where to Stay in Fort Lauderdale

If you’re traveling by RV, boat, or both, there’s no better place to stay in Fort Lauderdale than Yacht Haven Park & Marina. This waterfront RV resort is designed for travelers who love luxury, convenience, and unbeatable access to the city’s best attractions.

 

At Yacht Haven, you’re not just staying near the water— you’re staying on it. The resort is located along the New River, giving you a front-row seat to yachts cruising by and easy access to Fort Lauderdale’s famous waterways. Plus, with spacious RV sites, full hookups, and resort-style amenities, you’ll have everything you need for a comfortable stay.

Florida Roadtrip Stop #5: The Florida Keys

What better place to end a Florida roadtrip than the Keys? 

 

Stretching 120 miles off the southern tip of Florida, this island chain is known for its “island time” atmosphere, crystal-clear water, and some of the best snorkeling and fishing in the country. Driving the Overseas Highway from Key Largo to Key West is an adventure in itself, with stunning ocean views, quirky roadside stops, and plenty of chances to hop out and explore. 

What to Do in the Keys

Drive the Overseas Highway: There’s no getting around this if you are exploring the Keys, but this scenic 113-mile drive is one of the most beautiful in the country. The Seven Mile Bridge is the highlight, giving you unreal panoramic views of turquoise water in every direction.

 

Explore Duval Street in Key West: Once you reach Key West, head straight for Duval Street, the heart of the city’s lively nightlife and historic charm. Stop for a drink at Sloppy Joe’s, try a slice of Key lime pie, or check out the unique shops and art galleries.

 

Visit the Ernest Hemingway Home & Museum: Literature and cat lovers will enjoy touring Hemingway’s former residence, home to dozens of six-toed cats and plenty of fascinating history.

 

Catch the Sunset at Mallory Square: There’s no better way to wrap up your time in the Keys than watching the famous sunset celebration at Mallory Square. Street performers, live music, and unbeatable views make it a can’t-miss experience.

 

Where to Stay in the Keys

There are plenty of great RV stays scattered throughout the Keys, so you can choose to stay close to the action or in a quieter, more secluded spot. Many RV parks offer oceanfront campsites, private docks, and easy access to snorkeling and boating adventures.

For those looking for a unique, scenic stay, consider finding a spot in Marathon or Big Pine Key, which puts you right in the middle of the island chain— making it easy to explore both Key West and the Upper Keys.

Get Goin’ on Your Florida RV Trip

A roadtrip through Florida is more than just a journey— it’s an adventure filled with ever-changing landscapes, vibrant cities, and unforgettable coastal views. Whether you started on the sugar-white sands of the Emerald Coast, explored the historic streets of St. Augustine, soaked up the energy of Orlando and Fort Lauderdale, or drove across the Overseas Highway to the Keys, you’ve experienced just a glimpse of what makes this state so special.

 

With so many routes to take and places to explore, no two Florida RV roadtrips are ever the same. If you’re planning your first visit or returning for another drive through the Sunshine State, there’s always something new waiting just around the bend.