These 11 Gorgeous Class B RVs Make Full-Time Van Life Living Easy

Ready to hit the open road and leave the stress of daily life behind? If you’re considering full-time travel, a Class B RV—essentially a camper van built for adventure and comfort—could be your perfect home on wheels.

Choosing the right one can feel overwhelming, but we’re here to help. Whether you’re dreaming of van life or ready to invest, we’ve compiled the top Class B RVs for full-time living, along with tips to make your decision easier. And if you’re after something bigger, check out our guides on Class C and Class A motorhomes!

Top Class B RVs You Should Add to Your List

Choosing the best class B RV for your lifestyle is largely a matter of personal preference. But if you’re into a small camper that’s easy to drive and can park almost anywhere, let’s look at some of the best class B RV floor plans.

Winnebago Revel

RV Specs

• Length: 19’6″
• Exterior Height: 10′
• Interior Height: 6’3″
• Fresh Water Capacity: 35 gallons
• Holding Tank Capacity: 21 gallons
• Sleeping Capacity: Up to 3

There’s a reason Winnebago almost always seems to top our lists, these guys know their stuff. As one of the oldest RV manufacturers, they’ve had decades to perfect their designs and offer consistently innovative and thoughtfully built motorhomes.

The Class B RV “Revel” is no exception. It’s loaded with features like a hydronic heating system that delivers quiet heat and continuous hot water, a lithium battery bank with a 320-amp hour capacity, and redesigned dinette seating.

The full-sized power lift bed offers a comfortable and dedicated sleeping space that lifts away to transform into a garage with plenty of storage space for your mountain bikes, hiking gear, and camping equipment.

The wet bath all but confirms that this small Class B RV is designed with adventurers in mind. And it’s suitable for up to three sleepers, making it the perfect option for couples or small families.

Learn more about this Winnebago class B RV.

Storyteller Overland Classic MODE 4×4

RV Specs

• Length: 20′
• Exterior Height: 10′
• Interior Height: 6’3″
• Fresh Water Capacity: 21 gallons
• Holding Tank Capacity: 24 gallons
• Sleeping Capacity: Up to 3

Storyteller Overland is a relatively new, but fast-growing company, and they have three of the best Class B RVs for overlanding out there. The Classic MODE is an all-wheel-drive camper van with upgraded bug screens and new window shades in the 2023 models. 

However, if you don’t like the MODE, you can also choose from the Stealth MODE and Beast MODE, two other high-quality Class B RVs from Overlander. Both options are great for off-roading, but the Beast MODE is easily the most rugged option from Overlander. 

Each of these Class B RVs is built on the Mercedes Benz Sprinter chassis, and features heated seats, a touchscreen display, a parking package with 360-degree cameras, and wireless charging for your smartphones — and that’s just in the cockpit. You can also get a Storyteller built on the Ford Transit chassis.

These campervans’ Volta energy system features a 3,200-watt inverter, an intelligent power distribution module, and a 90-watt solar panel — but it can be upgraded to boast up to 600 watts of solar capture ability.

When it’s time to climb inside, you’ll love the convertible “Groove Lounge” sofa bed, the Dreamweaver bed that converts to a workstation, the Halo interior shower system, and the stainless steel sink in the galley. You’ll find a hidden portable toilet as well.

Learn more about this Storyteller Overland camper van.

Winnebago Travato Class B Motorhome

RV Specs

• Length: 21′
• Exterior Height: 9’4″
• Interior Height: 6’3″
• Fresh Water Capacity: 18 gallons
• Holding Tank Capacity: 24-25 gallons
• Sleeping Capacity: 2

Another great option from Winnebago, the Travato small class B RV offers four unique floor plans. Each offers a varied use of space maximized to sleep two travelers and streamlined for comfort when the weather outside isn’t all sunshine and rainbows.

Two of their layouts utilize twin beds with an overhead flex bed system, making the absolute most out of a small space and opening up the rest of the van to be much more usable. This Class B RV is the top-selling camper van in North America for several reasons.

For one, it offers an extremely flexible seating area with a table that can pivot 360 degrees because it’s mounted on a swinging arm. That table can also be relocated to a second mounting position as well.

Added insulation in the roof and sidewalls extends your camping season and an abundance of storage space under the rear bed accommodates all your camping equipment. Speaking of the bed, this camper van has a high-density hygienic foam mattress with a European suspension system.

The van’s Eco-Hot water system provides reliable hot water for the wet bath and helps to reduce water waste. When it come to power, the best class B RV wouldn’t be complete without an advanced energy system that provides up to 9,000 useable watt-hours of power.

Learn more about the Winnebago Travato camper van here.

Airstream Interstate 19

RV Specs

• Length: 19’5″
• Exterior Height: 9’7″
• Interior Height: 6’2″
• Fresh Water Capacity: 18 gallons
• Holding Tank Capacity: 25 gallons
• Sleeping Capacity: Up to 2

Airstream has been going crazy in popularity, mostly due to its unique style and thoughtful designs. While they’ve traditionally been known for their travel trailers, the Interstate 19 most certainly belongs on any list of the best class B RV models.

The larger, classic Airstream Interstate is the best–selling Class B diesel motorhome on the market, so you can imagine that its little brother, the Interstate 19, is pretty amazing. You’d be right.

This Class B RV is designed for solo or couple travelers and only sleeps 2, so if you’ve got a family, this is definitely not an option for you. But if you don’t need the space, this luxurious layout might just be perfect.

Built on the Mercedes Benz chassis, the Interstate 19 camper van comes with all the amenities and safety features you’ll get from a quality Mercedes, such as side-view and rear-view cameras and a parking assist system.

Inside, Interstate 19 camper vans pack in the largest bed in their class, unlimited hot water provided by the Truma furnace and water heater, electronic controls for the power awningand blinds, and a power sliding door.

It also boasts a European style wet bath with a sink, shower, and RV toilet. You’ll also enjoy built-in shampoo, conditioner, and body wash containers, as well as clotheslines for wet towels or soiled clothing.

There are any other excellent features to get excited about on this fuel efficient camper, but some of our favorites include Garmin navigation and lane guidance, Load-Adaptive electronic stability control, a widescreen Samsun LED Smart TV, and the ability to transform the cockpit into a comfortable bed to expand the sleeping space for up to three people.

Read more about the Airstream Interstate.

Roadtrek Zion Class B RV

RV Specs

• Length: 20’9″
• Exterior Height: 9’5″
• Interior Height: 6’2″
• Fresh Water Capacity: 37 gallons
• Holding Tank Capacity: 22.5 gallons
• Sleeping Capacity: Up to 3 (with the optional folding mattress)

The Roadtrek Zion is a sleek Class B motorhome built on the sturdy and wide Dodge Promaster chassis. With its larger water tank capacity than most of the best class B RV models, it’s a great choice for boondocking adventures.

This luxury class B RV boasts a 600-amp lithium battery system, a 16,000 BTU propane furnace, a 3,000-watt sine wave inverter, and a generator under the hood to take care of all your power needs when you’re not plugged in.

This luxurious class B RV features an open floor plan so you can pack your outdoor gear (bikes, kayaks, etc), down the center aisle. The floor plan is highly adaptable for daytime use and features a roomy bed when it’s time to rest.

The open concept gives you ample storage space for anything you like to bring on extended, or even just weekend camping trips. Plus, an optional layout features two twin beds instead of the full king if you’re traveling with friends.

This small Class B RV has a permanent bathroom, a spacious galley, a large refrigerator, and an 11,000 BTU roof-mount air conditioner. Easily accessible hookups make this class B van easy to plug in when you’re not boondocking and a retractable power awning provides shade on hot days.

We’d say the Roadtrek Zion is perfect for couples looking for outdoor adventure. Most class B RV manufacturers don’t necessarily include couple-friendly standard features like magnetic bug screens on the rear and passenger doors, power steps, an outdoor shower, and 300 watts of solar panels.

Read more about the Roadtrek Zion here.

Leisure Travel Van Unity Luxury Class B RV

RV Specs

• Length: 25’1″
• Exterior Height: 10’6″
• Interior Height: 6’5″
• Fresh Water Capacity: 25.6 or 36.5 gallons (model dependent)
• Holding Tank Capacity: 65.6 gallons
• Sleeping Capacity: 2-4

This Class B motorhome hardly feels like a van. While it may only be a few feet longer than some of our other recommendations, just looking at the floor plans quickly shows how far those few extra feet can take you.

Most floor plans divide the space into two, offering either a spacious dedicated bedroom area or a lounging/entertaining space. If you’re planning to spend a lot of time on the road, having comfortable living spaces can make a world of difference.

There are a total of five floor plan options to help you find the best class B RV for your RV lifestyle. Three feature a manual murphy bed as the primary sleeping space, but one features a corner bed (CB) and the other features a convertible twin bed/king bed (TB).

The extended length of these class B motorhomes makes them perfect for a small family. You’ll enjoy more interior living space with amenities like the Leisure Lounge, a residential-style dry bath, and indoor/outdoor entertainment centers (although the outdoor TV is an optional upgrade).

True to its name, it’s built for comfort and relaxation. The patented Leisure Lounge system features two reclining chairs, a dinette with an updated table system, and a panoramic window to enjoy the iews when you’re not watching TV.

At night, the lounge converts to the 65″ x 74″ bed with adjustable headrests to help you enjoy quality sleep wherever you camp. And with the 15,000 BTU ducted air conditioning system, climate control is as easy as it gets in the best class B RV.

Learn more about the Unity here.

Coachmen Galleria

RV Specs

• Length: 24’3″
• Exterior Height: 9’6″
• Interior Height: 6’3″
• Fresh Water Capacity: 27 gallons
• Holding Tank Capacity: 34-48 gallons (model dependent)
• Sleeping Capacity: Up to 3

This Coachmen RV might only sleep 2, but its comfortable and spacious interior can fit much more for day travel. It’s built on an extended Mercedes Sprinter chassis with a BlueTech turbo-diesel engine.

You’ll find luxury in this Class B RV, which has a Truma Combi furnace/water heater system, a built-in Onan generator, soft-close doors and drawers, and maple cabinetry handcrafted by a local Amish cabinet maker.

This Class B RV also features a sleek central kitchen and ample seating area, making it perfect for large groups not necessarily looking to camp out every night. Most of the models include a removable pedestal table that’s perfect for meals or charcuterie spreads.

Counter space isn’t hard to come by in this camper van and it has towing capacity if you need to bring a small trailer along. Van life is easy when you have standard features like remote access for coach climate control, 330 watts of solar, upgraded R-15 insulation, and motion sensor lighting in the overhead cabinets.

And for those looking to expand their off-grid capabilities, you can choose from options like a 4 x 4 chassis, a polar package with tank heating pads, upgraded rims, and a 630 amp-hour Lithium battery system with a 3,000-watt inverter and remote Bluetooth management capability.

Read more about the Coachmen class B RV.

Grech Strada Ion

RV Specs

• Length: 24′
• Exterior Height: 10′
• Interior Height: 6’1″
• Fresh Water Capacity: 26 gallons
• Holding Tank Capacity: 27 gallons 
• Sleeping Capacity: Up to 2

If you’re looking for a Class B RV that oozes luxury, the Grech Strada Ion is the camper van for you. Built on a Mercedes Benz Sprinter chassis, the Grech Strada Ion is one of the newest and most coveted Class B RVs on the market. 

In addition to being off-road ready and capable, the Strada Ion offers a handcrafted and decked-out interior. From the sleek, hardwood cabinets to the leather furniture solid surface countertops, this is easily one of the most luxurious RVs available. 

On top of all that, the Strada Ion is also solar ready with a 300-watt solar power system and high-quality lithium ion batteries. Whether you want to live luxirously at your local campground or go for a cross-country trip off the grid, this RV can do it all. 

Entegra Coach Ethos

RV Specs

• Length: 20′ 11″
• Exterior Height: 9′ 3″
• Interior Height: 6’2″
• Fresh Water Capacity: 26 gallons
• Holding Tank Capacity: 27 gallons 
• Sleeping Capacity: Up to 4

Another top pick in the world of luxury Class B RVs is the Entegra Coach Ethos. Entegra is a brand best known for their massive and luxurious Class A motorhomes, and they take that same craftsmanship and apply it to their Class B camper vans. 

The Ethos is built on a Ram Promaster 3500 chassis and utilizes E-Z Drive technology and a premium heavy-duty suspension system. It also features a 9-speed transmission and is ready to take you anywhere, even off the beaten path. 

There are several Ethos floorplans to choose from, and each one offers a wet bath, a small kitchen, a refrigerator, and more. The Ethos also features an optional pop-top for extra sleeping room if you’re traveling with kids, friends, or another couple. 

If you choose to pass on the pop-top sleeping space, you can opt for a premium roof rack so that you can bring your toys with you! You can also enjoy some time outside in the shade beneath the 13′ power awning that comes with each Entegra camper van. 

Jayco Terrain

RV Specs

• Length: 19′ 7″
• Exterior Height: 10′
• Interior Height: 6’1″
• Fresh Water Capacity: 21 gallons
• Holding Tank Capacity: 25 gallons 
• Sleeping Capacity: Up to 2 

Jayco is one of the top names in the travel trailer industry and they’re bringing their expertise to the camper van real with the Jayco Terrain. Built on a Mercedes Benz Sprinter chassis and built to take you anywhere, the Terrain is the ultimate camper van for boondocking. 

The Terrain is equipped with a wet bath and small kitchen, as well as a power lift bed. This allows you to use the rear for storage or living space when the bed is raised. There’s also plenty of interior and rooftop storage for anything else you bring along on your travels. 

Worried about staying connected or working remotely in your RV? Don’t be! In addition to sleek countertop extensions you can use as office space, the Terrain is outfitted with Starlink technology, ensuring you have Wi-fi no matter where you go. 

The Jayco Terrain is the perfect combination of luxury, comfort, and off-road ruggidness. It’s perfect for road trips, weekend excursions, or full-time living. It’s even equipped with solar panels and lithium-ion batteries so that you have electricity no matter where you go! 

Thor Motor Coach Sequence Class B RV

RV Specs

• Length: 21’1″
• Exterior Height: 9’5″
• Interior Height: 6’3″
• Fresh Water Capacity: 27 gallons
• Holding Tank Capacity: 24.5 gallons
• Sleeping Capacity: Up to 2

Our list of the best class B RV models wouldn’t be complete without the Thor Motor Coach Sequence. In many ways, we’ve saved one of the best class B RV floor plans for last.

Built on the RAM ProMaster chassis, the Thor Motor Coach Sequence is a front-wheel-drive camper van built with quality materials. A 36-foot turning diameter makes it easy to maneuver and the holding tanks, electrical system, and propane components are all hidden inside the van’s body.

That design provides more interior living areas and storage space for all your outdoor gear. Speaking of, the Thor Motor Coach Sequence is a Thule-equipped van, meaning it comes with a bike rack, patio awning, roof rack, and roof ladder with a magnetic support system for added safety climbing up and down.

The Thor Motor Coach Sequence collection of camper vans comes with the Winegard Connect 2.0 as a standard feature, which is a 4G hot spot, WiFi, and TV antenna all-in-one. It also boasts plenty of interior living space and a power awning.

It’s a fuel-efficient class B RV with pet-friendly fabrics that are resistant to dander and claw marks. Plus, residential vinyl flooring makes it easy to clean up and less susceptible to general wear and tear than carpet.

Discover the Thor Motor Coach Sequence class B RV.

Which Class B RV is Right For You?

Class B RVs are an amazing way to get out and explore, bringing along only what you need and leaving everything else in the dust.

While #VanLife isn’t for everyone, it’s exploding in popularity, and RV manufacturers are responding with a huge range of expertly crafted and designed vans suited for just about anyone’s needs.

If you’re still on the fence, or just have some more questions before making the leap, ask away! Let us know in the comments and we’ll do our best to help get you the answers you need. We hope you’ve enjoyed this list of the best fuel-efficient Class B Motorhomes!