Over the years, Arizona has become a tourist hot spot.
Visitors from around the world are attracted to the deep snaking ravines of the Grand Canyon, the hazy sunsets over Horseshoe Bend, the silky folds of Antelope Canyon, the fiery red rock of Sedona, and the untamed beauty of Saguaro National Park.
It can often be hard to escape the crowds, but we’re sharing how you can discover amazing destinations off the beaten path with this 4-day Arizona hidden gems RV road trip!
*Disclosure: This post is sponsored by RVshare, all opinions are my own.
4 Day Arizona RV Road Trip Itinerary
Table of Contents
Day 1
Pick up your RV through RVshare
We absolutely loved renting an RV for this road trip. It allowed us to explore off the beaten path and enjoy nature without sacrificing comfort.
We rented an RV through RVshare, it’s like Airbnb for RV rentals. There are so many options to choose from with vintage Airstreams, retro camper vans, cozy popups, and decked-out modern RVs.
You are bound to find one that is perfect for you!
For this road trip, we knew we wanted a travel trailer that we could unhitch and leave at the campground while we explored nearby.
When looking for a rental, you’ll want to take into consideration the size and towing capacity of your vehicle.
This itinerary also includes a night of boondocking so you may want to look for a rental that includes a generator if you’re planning to dry camp.
The rental process was easy and straightforward and the owner was so great to work with.
When we picked up the RV he walked through and thoroughly explained everything to us, then we were on our way!
Drive to Sedona and set up camp
Sedona is one of the best places to boondock in Arizona, meaning that you are camping on public lands and not in a campground.
It is free to camp in all National Forests, and Sedona resides within the Coconino National Forest.
If you need to fill up your water tank before dry camping, stop at the Cottonwood Fairgrounds on your way to Sedona where you can fill your reserve tank for $10 cash.
Once you reach Sedona, the best place to boondock is along Loy Butte Rd/FS Rd 525.
The dirt road is about 7 miles long and offers primitive camping all along the way. The road is located west of town so it is easy to access without having to fight the traffic going through town.
The campsites at the beginning of the road tend to get filled up more quickly, but there are plenty of sites all along the way.
If you keep driving, the most scenic camp spots with views of the red rocks are near the end by Boynton Canyon Rd.
Once you find a secluded camping spot, unhitch your trailer and get everything set up.
Evening swim at Grasshopper Point
If you are camping anywhere between April and October, chances are you’ll want to cool off from the heat! There are plenty of swimming hole options in Sedona.
A few of the most popular ones are Slide Rock and Red Rock Crossing, they are beautiful but expect crowds.
Grasshopper Point is not as well-known, so while you’ll still be sharing the swimming hole with other guests it won’t be quite as packed.
It’s the perfect spot to spend the evening sitting on the shaded banks while the kids swim and jump off rocks.
Head back to your campsite, and as long as there are no fire restrictions in place you can roast hot dogs and s’mores over a crackling fire.
Settle in for a cozy night of card games and reading books under the bed covers with flashlights.
Then fall asleep to the sound of crickets chirping under a coal-black starry desert sky.
Day 2
Breakfast
Wake up with the sun and enjoy a moment of serenity under a pink blush sky before getting your day started.
As the kids slowly climb out of their beds, simmer steel-cut oats over the stove for an easy, nutritious, and filling breakfast.
Morning hike at Fay Canyon
It has become increasingly harder to find secluded trails in Sedona. While we love Devil’s Bridge and Cathedral Rock, we were seeking a hike that offers a respite from all the crowds.
The Fay Canyon trailhead is located on Boynton Canyon Rd with easy access from your boondocking site on Loy Butte Rd.
It might be easier to just leave your trailer at the campsite while you do the hike, then pick it up on your way out of town.
The trail is an easy 2.8-mile hike that follows along the wash at the base of the canyon.
It is partially shaded with views of the red rocks along the way. About halfway along, you’ll see a spur trail that leads to an arch that you can hike to.
Continue along the trail until you reach a sign marked “end of trail”. From here you’ll see hikers climbing up the rocks to get a better view.
Most people will turn around after this viewpoint without realizing that the best part of the trail is still to come.
If you keep following the trail up and back a little deeper into the canyon, you can scramble up the rocks to reach a secluded alcove.
From here you will be rewarded with the most intoxicating sight.
Look out across the sun-blazed horizon where you’ll see the receding forest giving way to outcrops of towering red rocks.
For more information about this trail, check out our guide to the Fay Canyon Trail.
Lunch at Cottonwood
While there are plenty of dining options in Sedona, I would recommend heading to the nearby charming town of Cottonwood where you’ll find fewer crowds.
Cottonwood is a historic farming and mining town nestled in the heart of the Verde Valley. The cheerful Main Street buzzes with outdoor cafes and shops boasting 1920s architecture.
Our favorite place to eat is at Bing’s Burger Station. This retro burger joint can be found in a renovated 1940s gas station.
Order a Deluxe Cheeseburger, hand-cut fries, and a malt shake, then grab a table in the front by the vintage gas pumps and bright red 1950 Plymouth sedan.
After lunch, pop into the antique store next door. You’ll discover one of the best antique shops in the country, with vintage treasures and quirky finds spread across 2 acres and 4 warehouses.
Rifle through old vinyl records and dusty collections of glass Coke bottles to find that one-of-a-kind memento to bring home from your trip.
For more recommendations, see our guide for the Best Things to Do in Cottownood.
Check-in at the Verde Ranch RV Resort
As much as we loved camping in the rugged desert, I knew my boys would love the amenities offered at Verde Ranch RV Resort.
It is located in Camp Verde which is a great home base for exploring all that the area has to offer.
After lunch in Cottonwood, head over to the resort for a 2 pm check-in.
Unhitch your trailer and get it all set up before heading out to explore the nearby ghost town of Jerome.
Explore the ghost town of Jerome
Spread across the surreally steep topography of Cleopatra Hill, you’ll find the weathered remains of one of the largest ghost towns in America.
Jerome was once a mining boomtown nicknamed, ‘The Billion Dollar Copper Camp’. It was considered one of the richest cities in the United States with a thriving population of around 15,000. Today, this living ghost town is home to a mere 450 residents.
We have visited several Arizona ghost towns and what I love most about Jerome is its authenticity. It is more than just a contrived tourist attraction, it is a working town.
Many restaurants and hotels have been restored, and yet several buildings have been preserved in their state of ruin adding to the interest.
The Jerome Historical Society has placed plaques on various buildings telling stories and bits of history. And trust me, there is no shortage of stories.
Not only was Jerome considered one of the richest cities, but it was also considered the ‘Wickedest Town in the West’.
There were brothels, saloons, gambling, boozing, brawling, gunfights, and everything in between.
Today it is a fascinating place to visit with a lurid history and whisperings of ghost sightings and hauntings.
Start your visit off at the Jerome State Historic Park and Douglas Mansion Museum to learn about the history of Jerome.
The Audrey Shaft Headframe Park is located right next to the Jerome State Historic Park.
Here, visitors can stand on a glass floor and peer down into the 1,900-foot mine shaft. The shaft is 650 feet taller than the highest point of the Empire State Building!
Then head into town where there are plenty of things to do and see, like checking out the art installations and displays erected in the remains of the Bartlett Hotel rooms.
Grab a drink and listen to live music at the Spirit Room Bar located in the haunted Hotel Connor.
Watch a glass-blowing demonstration behind the crumbling facade at the La Victoria Glass Blowing Studio. See the Sliding Jail, a jail cell that slid 200 feet from its original location. Then stop in at Nelly Bly, the largest kaleidoscope shop in the world.
Watch a film about the history of Jerome within the derelict remains of the Liberty Theater. And if you’re craving a sweet treat, pick up some homemade fudge from OJ’s Copper Country Fudge.
Make your way up the winding streets to visit the Jerome Grand Hotel overlooking the town.
It was once home to the United Verde Hospital and is now considered one of the most haunted hotels in America.
Explore around the hotel, or reserve a table and enjoy a meal on the outdoor terrace at The Asylum Restaurant.
For dinner, head to The Haunted Hamburger. This restaurant’s mountainside perch boasts a 100-mile view from its large picture windows and outdoor patio.
Enjoy a Southwest Sourdough Burger and Ghirardelli Carmel & Sea Salt handspun milkshake while watching the sunset.
After dinner, make your way back to the RV park and soak in the hot tub under the stars before calling it a night.
For more recommendations, click the link for a guide to the Best Things to do Jerome.
Day 3
Morning activities at the RV park
What drew us to the Verde Ranch RV Resort was not only the location but also the fabulous amenities.
The resort was built in March 2019, so everything is modern and in pristine condition. I have never seen such a luxe campground kitchen and lodge before!
Spend the morning challenging other guests to a game of pickleball, and cool off in the sparkling swimming pool and splash pad.
You can also play a game of pool in the sprawling clubhouse, or walk under the swaying cottonwoods along the river trail before heading out for a fun afternoon of adventure!
Spend the day at Fossil Creek Falls
Fossil Creek Falls takes a little extra planning and effort to get there, but it is one of the best Arizona hidden gems!
These crystal clear falls are located down a rugged 17-mile dirt road. You’ll want to unhitch your trailer and leave it at the RV park, the washboard road is much too rough.
The worst section is the last mile or so where a high clearance vehicle is recommended.
You’ll need to secure a parking permit in advance if visiting between April and October.
They have rangers stationed at two different points to check for permits, so be sure to print it out and bring it with you.
The permits are released on the first day of the month for the following month, and they go fast! There are 4 parking lots near the falls that you can purchase permits for.
The Waterfall Trailhead lot is the closest to the trail and the Fossil Creek Bridge is the farthest. It is about 1.25 miles from the Fossil Creek Bridge to the Waterfall Trailhead lot.
After you reach the parking lot, the trail to the falls is about one mile. It is an easy kid-friendly hike through shaded woods with little elevation gain.
All along the river, you’ll find secluded pools to swim in and rope swings to play on.
You could easily spend all day here, so plan to pack a picnic lunch, snacks, and plenty of water.
Be sure to bring sunscreen and bug spray, or wear long sleeve rash guards. We got eaten alive by the gnats! Water shoes are also recommended.
Once you reach the falls, you’ll be blown away by the beauty of this desert oasis.
Overgrown vegetation surrounds a 25-foot waterfall that plunges into a deep crystal clear emerald pool. You would never guess that this was in Arizona!
If you are brave enough, there is even a trail leading to the top of the falls where you can cliff jump into the water.
The water is frigid, but so remarkably clear it’s unreal! You can even swim under the falls to discover a hidden grotto behind the cascading water.
As you make your way back down the trail, the enticing magic of these falls will have you already planning your next trip back!
For more details about visiting these falls, see our Fossil Creek Waterfall guide.
After a long day in the sun, enjoy the clean showers at the RV resort. Then settle in for a quiet dinner and a movie with popcorn before drifting off to sleep.
*Related post: Check out these 10 Secret Spots and Hidden Gems in Phoenix!
Day 4
Today is a “Choose Your Own Adventure” Day! You’ll want to get an early start on the last day of your Arizona RV road trip, there is still so much to explore!
Here are several suggestions of things to do around Camp Verde so you can choose what appeals most to you.
Out of Africa Wildlife Park
This unique zoo and wildlife park is located only a few miles from the Verde Ranch RV Resort.
It offers unforgettable animal encounters, demonstrations, and shows.
And I bet you never thought that you could take an African bush safari in Arizona, but at the Out of Africa Wildlife Park, you can do just that!
Montezuma Castle and Tuzigoot National Monument
Montezuma Castle National Monument is located about 5 miles north of the RV park.
Here you will find the remarkably preserved cliff dwellings that once belonged to the Sinagua people around 1100-1425 AD.
Visitors are not permitted to climb into the ruins, but from the walking path, you can observe the 5-story structure consisting of about 20 rooms.
Entrance is $10 for 16 years and older, free for 15 years and younger.
The pass is good for 7 days and also includes admission to the Tuzigoot National Monument about 25 miles away near Cottonwood.
Tuzigoot National Monument allows visitors to view the ruins of a 110-room ancient Sinagua pueblo built onto the hillside.
For more Indian ruins that are worth a visit, see our guide 5 of the Most Accessible Indian Ruins in Arizona.
Verde Valley Wine Trail
Many people don’t realize this, but the Verde Valley is known as Arizona’s wine region. In fact, this home perched on the hillside overlooking the valley will make you feel as if you’re in Tuscany!
Take the Verde Valley Wine Trail along Page Springs Rd where you’ll see vineyards dotting the landscape. There are five different vineyards along this road where you can stop for tours and wine tastings.
Watson Lake
Watson Lake is one of the best Arizona hidden gems.
The concentration of granite dells surrounding the lake is so unique and photogenic. Your kids will also love climbing, jumping, and exploring on the rocks.
Visitors can rent a kayak or hike along the Peavine Trail (the abandoned Old Santa Fe railway trail) to take in the views of this stunning lake.
Historic downtown Prescott
In 1864, the historic town of Prescott was established as the Territorial Capital of Arizona. Today, over 700 of Prescott’s preserved buildings and homes are listed on the National Register of Historic Places.
In its heyday, this mining town had over 40 saloons, many of which lined the famed ‘Whiskey Row’.
Stop in for lunch at the Palace Saloon, the oldest bar in town boasting the original carved wood bar that was frequented by Doc Holliday.
Browse the vintage treasures at the Modern Day Forager Mercantile. And be sure to pick up some home-baked goods, like their signature Cardamom Carrot Muffin filled with Vanilla Cream Cheese.
Stop in at the Sharlot Hall Museum to learn more about the history of this area.
Then make your way to the Courthouse Plaza where you can see the Statehood Tree that was planted on February 14, 1912, the day that Arizona became a state.
Take a walk along the riverside Granite Creek Trail. Afterward, grab a table at El Gato Azul to enjoy their tapas menu on the outdoor patio overlooking the tree-lined creek.
The Smoked Salmon Pizza, fried avocado, and bacon-wrapped Santa Fe Shrimp are divine!
The Prescott Trading Company is a great place to go for Western souvenirs and Lost in Sports Antiques specializes in vintage toys and sports cards.
Stop in at the Park Plaza Liquor and Deli for the best wood-fired pretzels and mac & cheese in town!
On your way out, stop at Mortimer Farms for farm activities and U-pick fruit and produce.
For more recommendations, see our guide Top 8 Things to Do in Prescott.
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I hope this guide has helped inspire you to plan an Arizona RV road trip to discover some of the best Arizona hidden gems!
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[…] The buildings still boast the same 1920s architecture and you’ll feel as if you’ve stepped back in time. It’s one of our favorite spots to visit on an Arizona Hidden Gems Road Trip! […]