Best Mattress for RV Murphy Bed: Top Cozy and Portable Memory Foam Picks

Last Updated on December 13, 2025 by Cassie Moorhead

There’s nothing more frustrating than trying to get a good night’s sleep in your RV, only to wake up sore and restless. The wrong mattress can make your cozy RV feel uncomfortable and cramped.

It turns relaxing trips into tiring ordeals. But choosing the right mattress for your RV Murphy bed changes everything. Suddenly, your space feels like a true home away from home. You wake up refreshed and ready for new adventures. In this article, we’ll help you find the best mattress options that fit perfectly, provide great support, and make your RV life easier.

Whether you want memory foam softness or firm support, we’ve got you covered. Keep reading to discover the top mattresses that will make your RV Murphy bed a cozy retreat you’ll love every night.

Camping World Cozyway 1/3 Bifold Rv Short Queen Mattress

The Camping World Cozyway 1/3 Bifold RV Short Queen Mattress is ideal for individuals and families who own RVs or campers and need a comfortable, space-saving sleeping solution. This mattress is perfect for those seeking a high-quality, memory foam mattress that fits the unique dimensions of an RV bed without compromising on comfort or support.

Pros:

• 8-inch memory foam provides excellent comfort and pressure relief.
• Short queen size fits perfectly in most RVs and campers.
• Bifold design allows for easy folding and storage when not in use.
• Lightweight at 47 pounds, making it easy to handle and move.
• Durable white cover is easy to clean and maintain.

Cons:

• May not provide enough firmness for those who prefer a very firm mattress.
• Limited color options, only available in white.
• The short queen dimensions may not fit standard beds outside of RVs.

The Camping World Cozyway 1/3 Bifold RV Short Queen Mattress is crafted with 8 inches of memory foam, offering superior cushioning that adapts to your body shape, reducing pressure points and enhancing sleep quality. Its design is specifically tailored to fit the compact spaces in recreational vehicles, making it a practical alternative to traditional mattresses that are often too large or cumbersome for RV use.

Additionally, the mattress features a bifold construction, which makes it easy to fold and store, perfect for maximizing space in your camper or RV. The lightweight nature of the mattress at just 47 pounds means it is easy to move or reposition as needed. Its durable and easy-to-clean white cover ensures longevity and hygiene, making it a reliable choice for frequent travelers and camping enthusiasts who demand both comfort and convenience.

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Roxzo Folding Mattress Queen Size

The Roxzo Folding Mattress Queen Size is ideal for individuals seeking a versatile and comfortable sleeping solution that can easily accommodate guests or be used in small living spaces. Perfect for those who value portability and convenience, this 6 inch tri-fold memory foam mattress topper offers an excellent balance of support and softness, making it suitable for dorm rooms, apartments, or temporary sleeping arrangements.

Pros:

• High-quality memory foam provides excellent support and comfort
• Tri-fold design allows for easy storage and portability
• Washable cover ensures easy maintenance and hygiene
• Non-slip bottom keeps the mattress securely in place
• Generous dimensions of 78″ x 58″ x 6″ fit standard queen size beds

Cons:

• May be too firm for users who prefer a softer mattress
• Heavier than some other foldable mattress options due to dense foam
• White color cover may require frequent cleaning to maintain appearance

The Roxzo Folding Mattress Queen Size features a thick 6-inch memory foam layer that contours to the body, providing personalized support which can help alleviate pressure points and improve sleep quality. Its tri-fold design makes it incredibly easy to fold and store, which is perfect for those with limited space or who need a quick setup for overnight guests. The mattress’s non-slip bottom ensures it stays firmly in place on any surface, enhancing safety and stability during use.

Additionally, the mattress comes with a washable cover that promotes cleanliness and durability, an essential feature for anyone concerned about allergens or spills. The queen size dimensions of 78″ x 58″ make it a versatile option that fits most standard beds, while also serving as a comfortable standalone guest bed or a portable sleeping solution. Overall, the Roxzo Folding Mattress combines comfort, convenience, and practicality, making it a smart investment for various sleeping needs.

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Gembed Tri Folding Mattress Queen Size

The GEMBED Tri Folding Mattress Queen Size is ideal for individuals seeking a versatile and portable sleeping solution. Whether you are a frequent traveler, camper, or someone who often hosts guests at home, this memory foam tri-fold mattress offers convenience and comfort in one compact design. It’s perfect for those who need a lightweight, easy-to-store mattress that can double as a sofa bed or floor chair.

Pros:

• Made with high-quality memory foam for superior comfort and support
• Tri-fold design with a convenient handle for easy portability
• Non-slip bottom ensures the mattress stays securely in place
• Spacious queen size dimensions (78″x58″x6″) for ample sleeping area
• Lightweight and foldable, perfect for travel, RV camping, and guest use
• Neutral grey color that fits well with any decor

Cons:

• At 33 pounds, it may be slightly heavy for some users to carry for long distances
• The 6-inch thickness might not be sufficient for those who prefer very plush mattresses
• Limited color options available

The GEMBED Tri Folding Mattress features a durable memory foam layer that contours to the body, providing excellent pressure relief and a restful sleep experience. Its tri-fold design allows the mattress to be folded into a compact size, making it easy to carry with the integrated handle. This makes it particularly beneficial for those who need a mattress that is both comfortable and highly portable for activities such as travel, camping, or yoga.

Additionally, the non-slip bottom enhances safety by preventing unwanted sliding on smooth surfaces, which is ideal when using it on floors or in RVs. The generous queen size dimensions accommodate most users comfortably, while the neutral grey color ensures it blends seamlessly into any living space. Overall, this mattress combines convenience, comfort, and versatility for users seeking a practical sleeping and lounging solution.

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Ultra Soft Queen Rv Size Mattress Topper

The Ultra Soft Queen RV Size Mattress Topper is perfect for individuals seeking enhanced comfort and relief from back pain, especially those who own an RV or have a queen-sized mattress. Ideal for hot sleepers, this mattress pad provides natural cooling properties, making it a great choice for anyone wanting a cooler and more restful night’s sleep. If you desire a soft, supportive, and eco-friendly mattress topper, this product is designed specifically for you.

Pros:

• Made from viscose derived from bamboo, offering natural cooling and moisture-wicking properties
• 15-inch height provides extra cushioning and support for better spinal alignment
• Green color adds a fresh and calming aesthetic to your bedding
• Helps alleviate back pain through its pillow-top design that contours to the body
• Sized specifically for queen RV mattresses, ensuring a perfect fit

Cons:

• May be thicker than standard toppers, which might not fit under all fitted sheets
• The green color may not match all bedroom decors
• Price point could be higher compared to basic mattress pads

This mattress topper boasts a high-quality construction from Niagara Sleep Solution, blending softness with durability. The viscose material, sourced from bamboo, ensures the surface stays naturally cool and breathable, which is essential for those who tend to overheat during the night. Its generous thickness of 15 inches offers enhanced pressure relief, targeting sensitive areas such as the lower back, thus promoting better sleep posture and reducing discomfort.

Beyond comfort, the mattress topper’s eco-friendly bamboo viscose fabric provides a sustainable choice for consumers who value environmental responsibility. Its tailored dimensions of 60 by 75 inches are crafted to fit perfectly on queen-sized RV mattresses, preventing slipping or bunching during use. Overall, this product combines thoughtful design and premium materials to deliver a restful and pain-free sleep experience for back pain sufferers and hot sleepers alike.

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Jacia House Short Queen Mattress

The Jacia House Short Queen Mattress is ideal for individuals seeking a compact yet comfortable sleeping solution, especially those living in RVs or smaller bedrooms. This mattress suits buyers who prefer a firm bed with excellent support and pressure relief, combining the benefits of both memory foam and innerspring technologies in a convenient 11.4 inches pillow top hybrid design.

Pros:

• Hybrid construction with pocket spring and memory foam offers balanced comfort and support
• Firm feel ideal for back and stomach sleepers
• Compact short queen size (60″ x 74″) fits well in RVs and smaller spaces
• Includes a pillow top layer for added softness without sacrificing support
• Durable materials from a reputable brand Jacia House
• Comes as a bed in a bag for easy setup and transport

Cons:

• May be too firm for those who prefer a plush or soft mattress
• Shorter length (74 inches) might not accommodate very tall individuals comfortably
• Weight of 58.4 pounds could be cumbersome for some to move

The Jacia House Short Queen Mattress features an innovative hybrid design that blends the responsiveness of pocket springs with the contouring comfort of memory foam. This combination provides excellent spinal alignment and pressure relief while maintaining a firm surface that supports restful sleep. The 11.4-inch height includes a plush pillow top layer, enhancing comfort without compromising the mattress’s overall support.

Its compact size makes it perfect for RV owners or those with limited space, while the firm feel benefits back and stomach sleepers who need a stable sleeping surface to reduce aches and pains. Additionally, the mattress comes as a convenient bed in a bag, simplifying delivery and setup. Overall, this mattress offers a thoughtful balance of comfort, support, and practicality for a wide range of users.

To buy this product, click here.

Frequently Asked Questions

What Size Mattress Fits An Rv Murphy Bed?

A short queen mattress is ideal for RV Murphy beds. It measures approximately 60″ x 75″. This size fits compact RV spaces and provides comfortable sleeping. Many RV-specific mattresses come in this size for a perfect fit.

How Thick Should An Rv Murphy Bed Mattress Be?

An 6 to 8-inch thick mattress is best for RV Murphy beds. It balances comfort with space-saving. Thinner mattresses fold easily and fit Murphy bed frames without issues. Memory foam options often come in these thicknesses.

Are Memory Foam Mattresses Good For Rv Murphy Beds?

Yes, memory foam mattresses offer excellent comfort and support. They conform to your body and reduce pressure points. Their flexible nature allows easy folding in Murphy beds. Plus, they are lightweight and durable, perfect for RV use.

Can A Tri-fold Mattress Work In An Rv Murphy Bed?

Tri-fold mattresses are portable and versatile but may not fit Murphy beds perfectly. They are better as guest or topper mattresses. For a permanent Murphy bed, a standard short queen mattress is recommended.

How Do I Maintain My Rv Murphy Bed Mattress?

Regularly air out your mattress to prevent moisture build-up. Use a washable mattress cover to keep it clean. Rotate the mattress occasionally for even wear. These steps prolong mattress life and comfort in RV environments.

Conclusion

Choosing the best mattress for your RV Murphy bed makes a big difference in comfort and space. The Camping World Cozyway and Roxzo folding mattresses offer great memory foam support and easy folding options. GEMBED’s tri-fold mattress is also a smart pick for portability and comfort.

For those who want a softer feel, the Ultra Soft Queen topper with bamboo cover helps keep you cool and eases back pain. Jacia House’s pillow top hybrid mattress combines springs and foam for firm support. Each mattress suits different needs and preferences, so think about your space, comfort level, and how often you use your RV bed.

A good mattress will help you rest well on your trips and make your RV feel like home. Take your time to pick one that fits your lifestyle and enjoy better sleep wherever the road takes you.