Best Mattress for RV Queen: Top Memory Foam Picks for Comfort

Last Updated on December 13, 2025 by Cassie Moorhead

There’s nothing worse than waking up sore and restless after a night in your RV. You look forward to a good night’s sleep on the road, but your old mattress just won’t cut it.

It’s too firm, too soft, or just plain uncomfortable. When you spend so much time traveling, a bad mattress can make every day harder. Choosing the right mattress for your RV queen bed changes everything. It means waking up refreshed, ready for new adventures, and enjoying your trips more.

In this article, I’ll share some of the best mattresses designed specifically for RV queen beds. These picks offer comfort, support, and a perfect fit for your space. Keep reading to find the mattress that will make your RV feel like a true home away from home.

Zinus 10 Inch Ultima Rv Memory Foam Mattress

The Zinus 10 Inch Ultima RV Memory Foam Mattress is ideal for individuals seeking a comfortable and compact mattress solution specifically designed for recreational vehicles. If you need a short queen size mattress that fits perfectly in an RV space while offering a medium firm feel, this mattress is an excellent choice. It’s perfect for RV owners who prioritize safety, comfort, and convenience in a lightweight, easy-to-handle mattress.

Pros:

• Fiberglass-free construction ensures a safer sleeping environment.
• Breathable memory foam enhances airflow to keep you cool and comfortable.
• Certified safe foams and fabric provide peace of mind regarding health and environmental standards.
• Compact 10-inch height with dimensions suited for RVs (60 x 74 inches).
• Convenient mattress in a box design for easy transportation and setup.

Cons:

• Medium firm feel might be too firm for those who prefer a plush mattress.
• Weight of approximately 49.88 pounds may be heavy for some to maneuver alone.
• Limited color option (white) may not match all RV interiors.

The Zinus 10 Inch Ultima RV Memory Foam Mattress features high-quality memory foam that conforms to your body, offering excellent pressure relief and support during your travels. Its breathable memory foam technology promotes air circulation, helping regulate temperature and prevent overheating, which is crucial for a good night’s sleep in confined RV spaces. The mattress’s medium firm feel balances softness and support, catering to a wide range of sleep preferences.

Additionally, this mattress is designed with certified safe foams and fabric, ensuring that it meets rigorous safety and environmental standards. Its fiberglass-free construction eliminates concerns associated with fiberglass irritation, providing a healthier sleeping environment. The compact short queen size and 10-inch thickness make it an ideal fit for RV beds, while the mattress in a box packaging simplifies shipping and setup, making it a practical choice for RV enthusiasts.

To buy this product, click here.

Cool Gel 8 Inch Short Queen Memory Foam Mattress

The Cool Gel 8 Inch Short Queen Memory Foam Mattress is ideal for individuals seeking a comfortable and supportive sleep surface with a medium firm feel. Perfect for those who want the benefits of memory foam combined with cooling technology, this mattress suits people with pressure point discomfort, back pain, or anyone needing a smaller-sized mattress for compact spaces like apartments or guest rooms.

Pros:

• Cooling gel infusion helps regulate temperature for a cooler sleep experience.
• Medium firm support offers excellent pressure relief and spinal alignment.
• CertiPUR-US Certified foams ensure safety and low emissions.
• Compact short queen size fits smaller rooms without sacrificing comfort.
• Made in the USA guaranteeing quality craftsmanship.

Cons:

• May not be suitable for those who prefer very soft or very firm mattresses.
• The 8-inch depth might feel thin for heavier sleepers seeking more cushioning.
• Limited color options available (white only).

The Cool Gel 8 Inch Short Queen Memory Foam Mattress features an innovative cooling gel layer that actively dissipates heat, making it an excellent choice for hot sleepers. The memory foam conforms to your body shape, providing targeted pressure relief and reducing tossing and turning throughout the night. Its medium firm design balances comfort and support, promoting proper spinal alignment which can help alleviate back and joint pain.

With dimensions tailored for smaller spaces, this mattress offers versatility without compromising on quality. The CertiPUR-US certification guarantees that the foam is made without harmful chemicals, ensuring a safer sleeping environment. Additionally, being manufactured by Classic Brands in the USA reflects a commitment to durability and high standards, making this mattress a smart investment for long-term restful sleep.

To buy this product, click here.

Zinus 8 Inch Ultima Rv Memory Foam Mattress

The Zinus 8 Inch Ultima RV Memory Foam Mattress [New Version], Short Queen size, is ideal for individuals seeking a comfortable and space-efficient mattress specifically designed for RVs or smaller sleeping areas. This mattress suits travelers, campers, and anyone who values a medium firm feel combined with breathable memory foam to enhance sleep quality on the go. Its fiberglass-free construction and certified safe foams make it an excellent choice for health-conscious buyers who prioritize safety and comfort.

Pros:

• Medium firm feel provides balanced support and comfort.
• Breathable memory foam promotes airflow and temperature regulation.
• Fiberglass-free for safer indoor air quality.
• Compact Short Queen dimensions fit perfectly in RVs and small spaces.
• Certified safe foams and fabric ensure non-toxic materials.
• Mattress in a box for easy delivery and setup.

Cons:

• 8-inch height may be thinner than traditional mattresses.
• Short Queen size may not fit standard bed frames.
• May require a break-in period for optimal comfort.

The Zinus 8 Inch Ultima RV Memory Foam Mattress features a carefully engineered medium firm feel that supports the body while relieving pressure points, making it perfect for those who need a restful sleep in compact environments. The breathable memory foam enhances airflow, which helps regulate temperature and keeps sleepers cool throughout the night, an essential feature for RV travelers in varying climates. Additionally, the mattress’s fiberglass-free design eliminates concerns related to fiberglass exposure, contributing to a healthier sleeping environment.

This mattress’s compact dimensions (60 inches wide by 74 inches long and 8 inches in height) are specifically tailored for RV beds, ensuring a snug fit without sacrificing comfort. The use of certified safe foams and fabric guarantees that the mattress meets rigorous safety standards, offering peace of mind to users. Its convenient mattress-in-a-box packaging allows for hassle-free transportation and setup, making it a practical solution for mobile lifestyles. Overall, the Zinus Ultima mattress combines safety, comfort, and portability to meet the unique needs of RV owners and those seeking a reliable medium-firm mattress option.

To buy this product, click here.

Zinus 6 Inch Foam And Spring Rv Mattress

The ZINUS 6 Inch Foam and Spring RV Mattress is ideal for individuals who own RVs, campers, or trailers and are in need of a comfortable, space-saving sleeping solution. This mattress is perfect for those looking for a short queen size mattress that fits smaller spaces without compromising on quality or comfort. If you want a mattress that is easy to transport and set up, especially for frequent travelers or weekend adventurers, this mattress is an excellent choice.

Pros:

• Compact and convenient WonderBox packaging makes transportation and setup hassle-free.
• Combination of foam and spring layers provides balanced support and comfort.
• 6-inch height offers sufficient cushioning while fitting well in smaller RV spaces.
• Durable and high-quality materials ensure long-lasting use.
• Short queen size dimensions (60 x 74 inches) perfect for RV beds.

Cons:

• May be too thin for users preferring a plush or thick mattress feel.
• Weight of 45.49 pounds might be somewhat heavy for some to carry alone.
• White color might show dirt or stains more easily during travel.

The ZINUS 6 Inch Foam and Spring RV Mattress features a thoughtful combination of supportive spring coils and pressure-relieving foam, which work together to provide a restful sleep experience even in the limited space of an RV or camper. Its 6-inch thickness strikes a balance between comfort and practicality, allowing it to fit snugly in smaller sleeping areas without sacrificing support. The mattress is also designed with portability in mind, utilizing the innovative WonderBox packaging that compresses the mattress for easier shipping and handling.

Users will appreciate the mattress’s ability to deliver consistent comfort during trips, as the foam conforms to the body while the springs offer resilience and support. The short queen size dimensions are tailored specifically for RV beds, ensuring a perfect fit without the need for modifications. Additionally, the mattress’s durable construction from trusted brand Zinus guarantees it will withstand the rigors of travel and frequent use, making it a reliable choice for campers and trailer owners alike.

To buy this product, click here.

Zinus 8 Inch Foam And Spring Rv Mattress

The Zinus 8 Inch Foam and Spring RV Mattress is ideal for those who own RVs, campers, or trailers and seek a comfortable yet space-efficient sleeping solution. Perfect for travelers and outdoor enthusiasts who want a mattress that fits snugly in smaller spaces without compromising on comfort and support. This Short Queen mattress is designed specifically to cater to the unique dimensions and needs of mobile living environments.

Pros:

• Combination of foam and spring provides excellent support and comfort
• 8-inch thickness offers a plush yet firm sleeping surface
• Smaller, convenient WonderBox packaging makes transportation and setup easy
• Compact dimensions (60 x 74 inches) fit perfectly in most RVs and trailers
• Lightweight at just 51.22 pounds, easy to handle and move

Cons:

• May be too small for those used to standard queen size mattresses
• Foam and spring combination might not suit those who prefer all-foam or memory foam mattresses
• White color can show stains more easily in high-use environments

This Zinus RV mattress features a unique hybrid construction combining high-quality foam layers with supportive springs, delivering a balance of softness and resilience. The 8-inch profile is specifically tailored to provide ample cushioning without taking up excessive space, making it ideal for the confined quarters of recreational vehicles. The mattress’s design ensures proper spinal alignment and pressure relief, which enhances sleep quality during travel or camping trips.

Additionally, the WonderBox packaging system offers a practical advantage by reducing the mattress’s size for easier shipping and handling. This convenient packaging not only simplifies setup but also minimizes storage challenges when the mattress is not in use. The Zinus 8 Inch Foam and Spring RV Mattress is a thoughtful blend of comfort, portability, and durability, making it an excellent investment for anyone seeking a restful night’s sleep on the road.

To buy this product, click here.

Frequently Asked Questions

What Is The Best Mattress Thickness For An Rv Queen Bed?

For RV queen beds, 6 to 10 inches thickness is ideal. It balances comfort with space efficiency. Thicker mattresses may reduce cabin space and increase weight.

Are These Zinus Rv Mattresses Fiberglass Free And Safe?

Yes, Zinus RV mattresses are fiberglass free. They use certified safe foams and fabrics. This ensures a healthier sleeping environment.

How Does The Memory Foam In These Rv Mattresses Help?

Memory foam provides medium firm support and pressure relief. It contours to your body, improving comfort during travel or camping trips.

Can These Mattresses Fit Standard Rv Queen Bed Dimensions?

Yes, these mattresses come in short queen size. They are designed to fit typical RV queen bed spaces perfectly.

Do These Rv Mattresses Offer Cooling Features?

Yes, models like the Cool Gel 8 Inch mattress have cooling gel layers. This helps regulate temperature for a comfortable sleep.

Are These Zinus Rv Mattresses Easy To Install?

Absolutely. These mattresses come in compact mattress-in-a-box packaging. They are convenient to transport and expand quickly once unpacked.

Conclusion

Choosing the right RV queen mattress can make your trips much more comfortable. The Zinus options offer a variety of sizes and firmness levels to suit your needs. Whether you prefer memory foam or a foam and spring combo, there is a mattress designed for RV use.

These mattresses are easy to handle and come in convenient box packaging. Breathable materials and certified safe foams help ensure a good night’s sleep. Cooling gel layers add extra comfort, especially during warm weather. Selecting a mattress with the right thickness and support will improve your rest while on the road.

Think about your space and sleeping style when making a choice. With these options, you can enjoy better sleep no matter where you park your RV. A quality mattress is key for relaxing adventures and waking up refreshed. Sleep well, travel far!