The Toyota RAV4 is one of the best-selling compact SUVs on the market, known for its reliable performance, fuel efficiency, and versatile interior space. For many owners, this vehicle is more than just a daily commuter—it’s a companion for weekend camping trips, road adventures, and spontaneous sleeping under the stars. One of the most common questions among RAV4 enthusiasts is: what size mattress fits in the back of a RAV4? Whether you’re transforming your RAV4 into a camping vehicle or just looking for a quick nap during a road trip, the right mattress size and type can make all the difference.

This comprehensive guide will walk you through the size options, fitment considerations, mattress types, and practical tips for selecting the perfect mattress for the back of your RAV4. By the end of this article, you’ll be equipped with valuable knowledge to enhance your RAV4 experience, no matter where it takes you.

Understanding RAV4 Interior Dimensions

Before diving into mattress sizes, it’s important to understand the interior dimensions of the Toyota RAV4, especially in the cargo area when the rear seats are folded down. The cargo space varies slightly depending on the generation and trim level, but overall, RAV4 models offer a surprisingly spacious trunk for their class.

Generational Variants and Cargo Space

To help you get an accurate idea of available space, here’s a summary of cargo volume in different RAV4 generations:

Although the fifth generation provides slightly less cargo volume with the back seats down compared to its predecessor, the shape and configuration of the space have remained largely similar. This means that the standard mattress sizes that fit older models generally work for newer models too.

Practical Space Considerations

When the seats are folded flat in a RAV4, the cargo area offers roughly 40 inches of vertical clearance and between 74 to 80 inches in length, depending on how much of the second-row seats are lowered. The width of the cargo area from wheel well to wheel well is typically around 42 inches. These dimensions are crucial when selecting a mattress, as they help determine the maximum size you can fit.

Note: The exact measurements can vary based on your RAV4’s trim, whether the vehicle includes a spare tire, underfloor storage compartments, or premium audio or tech systems that might affect cargo clearance.

What Mattress Sizes Fit in the RAV4 Trunk?

The compact SUV chassis of the RAV4 means that space is optimized, but not overly large. You won’t be able to fit a standard full-size mattress (54 inches wide), but there are several comfortable and practical alternatives.

Twin or Double Mattress (38–54 inches wide)

A twin mattress, typically measuring 38 inches wide by 75 inches long, is the most fitting size in a RAV4. It can lie flat within the cargo area with both seats folded down. Additionally, a twin XL mattress (38″ x 80″) offers slightly more legroom and can also work in larger RAV4 models, especially when the second-row seats are fully folded to maximize length.

• Twin: 38″ x 75″
• Twin XL: 38″ x 80″

Because the RAV4’s cargo area is around 80 inches long when the back seats are folded down fully—and 42 inches wide—most twin-sized mattresses can be accommodated without a problem. However, those with a wider frame may find a twin too narrow for comfort. That’s where alternatives like the “short queen” size come in.

Short Queen Mattress (48 inches wide)

This custom mattress option measures approximately 48 inches wide by 75 inches long, offering more room than a twin while still fitting into the cargo area when the back seats are lowered. This is ideal for taller sleepers or those seeking a more substantial sleep experience in their RAV4. Some camping and custom mattress brands specifically manufacture RV short queen mattresses that are perfect for vehicle use.

Key Takeaways on Sizes:

• Twin is your safest bet for a standard mattress layout in your RAV4.
• Twin XL is great for tall individuals or for slightly more room.
• Short Queen is a good alternative if you can compromise on length but want more width.
• Full (54″) mattresses and above do not fit without significant modifications or seat adjustments.

Choosing the Right Mattress Type

A mattress isn’t just about dimensions—it also plays a vital role in sleep comfort, especially when you’re outdoors or dealing with varying temperatures. The type of mattress you choose will influence how comfortable your back-of-the-Rav4 bed is.

Inflatable Air Mattresses

Air mattresses are lightweight, compact when deflated, and easy to store. Some models come equipped with built-in electric pumps, making setup and take down a breeze. Inflatable mattresses are suitable for most standard RAV4 dimensions and are popular among campers.

Pros:
– Affordable, especially budget brands.
– Packable into a trunk or under seats.
– Offer flexibility for multiple users.

Cons:
– Can be noisy.
– May require pump or manual inflation.
– Less stable compared to foam alternatives.

High-Density Foam Mattresses

These are the preferred choice of many vehicle campers for their firm support, durability, and compact size. A 4- to 6-inch thick high-density foam mattress will fit snugly into the RAV4’s cargo area. Custom foam sheets and RAV4-specific mattress kits (made of foam and memory foam layers) also make setup and storage easier.

Pros:
– Lightweight and easy to slide in.
– Provides consistent support.
– No inflation needed.

Cons:
– Less cushiony for pressure relief.
– May be warm for summer sleepers if not made of cooling materials.

Hybrid or Self-Inflating Sleeping Pads

While not a full mattress, self-inflating sleeping pads offer a good balance between comfort and mobility. They combine open-cell foam with a built-in inflation system. They are ultra-portable, roll up compactly, and are ideal for vehicle overlanders who also hike or backpack on their trips.

Which Type Works Best for a RAV4?

For most people:
– A 75-inch twin foam mattress (48″x75″) works best for comfort and size.
– An ultra-thin sleeping pad is ideal if your storage needs take priority.
– An inflatable mattress is an affordable and flexible option that can work if you have room for pump storage and don’t mind setup time.

Best Tip: Go with a mattress that is 4 – 6 inches thick. This is enough cushioning to sleep comfortably while not taking up critical storage in your compact SUV.

Custom Solutions and Accessories

If you’re looking for a permanent or semi-permanent sleeping setup in your RAV4, or just want a sleeker solution, there are custom mattress kits made specifically for RAV4s. These are usually foam-based, cut to match the RAV4’s cargo area dimensions when seats are down, and sometimes even come with removable covers and integrated padding layers.

RAV4-Specific Mattress Brands

A few popular companies now sell RAV4 cargo sleeping setups:

• MATBOCK – Offers 2” and 3” thickness foam RAV4 mattress kits that fit perfectly.
• TrunkSleeper – Creates foam sleep kits for RAV4 and similar vehicles with adjustable configurations.
• Custom foam shops – Local companies can cut foam to fit cargo area dimensions exactly and even add layers for softness and climate control.

Using a custom-sized foam mattress ensures maximum coverage without gaps or bulges, offering a smooth surface for sleeping or even temporary lounging.

Accessories You May Want to Add

• Folding bed platform – Some RAV4 owners install lightweight wooden or aluminum platforms that turn the cargo area into a flat, stable sleeping surface.
• Mattress topper – A removable 1” or 2” memory foam topper can improve comfort without needing to replace your base mattress.
• DuoFoam layering system – High-density + soft foam combo for balanced pressure relief and structure.

Maximizing Space for a Comfortable Sleep

Your RAV4’s cargo space is compact, so smart bedding layout and space optimization are key. Here are tips to ensure you maximize comfort:

1. Use Seat Position Adjustments

Some RAV4 models come with tilt-adjustable second-row seats that allow more reclined or flat configurations. Fully folding the seats provides a flat surface ideal for sleeping. Make sure your seats fold as flat as possible—not all RAV4 models have seats that lay completely flat when folded.

2. Measure Twice, Sleep Once

Before purchasing a mattress, take a tape measure to your vehicle’s cargo area when the second row is folded flat. Measure the distance from seatback to rear hatch (length), the width between the wheel wells, and note any protrusions or storage compartments that might restrict space. This lets you customize your mattress precisely.

3. Keep It Clean with a Mattress Cover

Because you’re using the cargo area for sleeping, it’s wise to protect your mattress with a water-resistant or washable cover. This also protects against dirt, moisture, and UV degradation if you’re planning to leave it installed part-time.

4. Add Bedding Essentials

You don’t want to sleep directly on the foam or air mattress; adding these items can improve comfort and rest quality:

• Lightweight sleeping bag
• Fitted sheets or slipcovers
• Foldable travel pillow or memory foam pillow
• Insulated pad or wool blanket for warmth

5. Utilize Modular Storage

To maintain usability of your RAV4, look into sliding storage drawer systems, which allow you to store your mattress full-time without sacrificing all of the cargo area. Some RAV4-specific drawer kits offer a dual-purpose sleeping platform and storage unit.

Storage Options When Not in Use

When your mattress isn’t actively being used, proper storage helps maintain its longevity and cleanliness. Here are a few storage suggestions:

• Roll and store larger foam mattresses (especially if they’re open-cell or memory foam that can compress easily).
• Use underfloor cargo compartments, if available.
• Slide between rear seats and hatch when folded down, but ensure it doesn’t interfere with hatch closure.
• Use ceiling-mounted or wall-mounted straps for roll-up pads.

Important Storage Tip:

Don’t store an air mattress fully deflated. Leave a bit of air inside to prevent seal damage and creases.

The Ideal RAV4 Sleep Setup: A Practical Recap

For most owners looking to sleep in the back of a RAV4, a twin or short queen mattress custom-cut for RAV4 dimensions is their best choice. Here’s a sample RAV4 sleep-ready setup:

• Twin or Twin XL foam mattress (4–6 inch thickness) for comfort and usability
• Mattress cover and fitted sheets for cleanliness
• Seatback riser or cushion to create a more horizontal sleeping platform
• Compact storage bag or platform system
• Compact pillow, warm blanket, or sleeping bag
• Optional: Platform bed or foldable table for added luxury

This setup offers both comfort and flexibility, making your RAV4 a ready-for-adventure vehicle.

Who is This Setup Ideal For?

If you’re the type of person who:

• Loves impromptu road trips,
• Prefers to sleep in your vehicle instead of a tent or motel,
• Wants minimal gear and hassle-free camping,
• Owns or intends to use a RAV4 for vehicle sleeping or overlanding,

Then a properly sized mattress for the back of your RAV4 is one of the smart upgrades you can make to your vehicle. It provides a consistent place to rest after long days exploring or driving.

Final Thoughts

The Toyota RAV4 may not be the roomiest SUV on the market, but its versatility lies in smart space optimization. A well-chosen mattress tailored to the back of your RAV4 can transform your weekend getaway or cross-country trip into a more restful and enjoyable experience. Whether you’re using a twin mattress for temporary sleeping or investing in a custom foam bed for full-time vehicle sleeping comfort, the key is knowing your space, and choosing the right product to fit inside that.

By aligning your mattress with RAV4 dimensions and considering how often you’ll use it, you ensure that you’re not just making the most of your adventure SUV, but that you’re also sleeping well along the way. For many campers and road warriors, fitting the right mattress in the RAV4 is the first step to sleeping under the stars—without leaving your vehicle behind.

What size mattress fits in the back of a RAV4?

A standard twin or full-size mattress can often fit in the back of a Toyota RAV4 when the rear seats are folded down. The RAV4 offers approximately 37.5 cubic feet of cargo space with the rear seats upright and expands to about 73.4 cubic feet with them folded. This increased space allows for accommodating a mattress that is up to 75 inches long and around 54 inches wide, making a full-size mattress a tight but often feasible fit.

However, the exact fit can vary depending on the RAV4’s trim and model year, as some configurations may include spare tires, cargo covers, or built-in storage compartments that reduce usable space. For the tightest fit, a twin mattress (39 inches wide by 75 inches long) is typically the safest choice, especially if you plan to transport the mattress regularly or with other items. In many cases, owners will also opt for mattress thicknesses under 8-10 inches to avoid issues with closing the hatch.

How much cargo space does a RAV4 have?

The Toyota RAV4 offers two main cargo configurations based on seat positioning. With the rear seats upright, it provides about 37.5 cubic feet of cargo space, which is sufficient for small to medium-sized items and daily use. This space can accommodate a few luggage bags or several grocery trips, but is typically too limited for larger objects such as mattresses or long boards.

When the rear seats are folded flat, the cargo volume nearly doubles, expanding to approximately 73.4 cubic feet. This allows for storage of larger items like a full-size mattress, camping gear, or moving supplies. This flexibility makes the RAV4 a popular choice for both everyday errands and weekend adventures. Still, it’s important to check your specific model to see if any additional storage features affect the overall cargo dimensions.

Can a queen mattress fit in a RAV4?

Fitting a queen mattress into the back of a RAV4 is highly unlikely without cutting or rolling the mattress extensively. A standard queen mattress measures about 60 inches wide by 80 inches long, which exceeds the width capacity of the RAV4’s cargo area even with the rear seats folded down. The hatch opening is also typically not wide enough to accommodate a queen without angling or compressing it, which can damage both the mattress and the vehicle.

If you absolutely need to transport a queen mattress without a trailer or truck, consider a foam or adjustable mattress that can be folded or rolled to fit through the hatch opening. Another option is to remove the rear seats, though this is a complex process not recommended for all drivers and still may not provide sufficient space. In most cases, a queen-size mattress may require a larger SUV or vehicle with more clearance.

What is the best type of mattress to fit in a RAV4?

A twin or full-size foam mattress is often the best solution for fitting into a RAV4. These mattresses are lighter, more flexible, and easier to maneuver through the hatch opening and into the cargo area. In particular, memory foam or poly foam mattresses can be rolled or compressed and still maintain their shape upon unpacking, making them ideal for occasional transport or camping trips.

Additionally, air mattresses or inflatable mattress options provide even more flexibility in RAV4 transport. They can be fully deflated to take minimal space and inflated at the destination. While they may not offer the same level of comfort as traditional memory foam or spring mattresses, they are often better suited for occasional users who prioritize portability and available cargo room for other gear.

What mattress thickness can fit in the back of a RAV4?

The thickness of a mattress that can fit in the back of a RAV4 depends on how the vehicle is loaded and whether the rear seats are folded. Mattresses ranging up to around 10 inches thick can typically be accommodated in the cargo area without much trouble. Thicker mattresses may interfere with closing the hatch comfortably or may strain the suspension depending on how much the vehicle is loaded.

Ideally, opting for a mattress between 6 and 8 inches thick ensures smoother transport without requiring heavy adjustments. Thin or low-profile mattresses also provide more room for additional luggage or camping gear in the RAV4. Some RAV4 owners also choose mattress toppers instead of full mattress pads if they already have a base (such as a foam pad or sleeping pad) that offers base support during travel or on their camping trip.

How do I measure my RAV4’s cargo area for a mattress?

To accurately measure your RAV4’s cargo area for mattress compatibility, begin by folding the rear seats completely flat to maximize space. Measure the available floor length from the rear hatch opening to the front seat backs, and measure the width between the inner sides of the cargo area. Also, check the height available by measuring from the floor to the hatch’s interior ceiling when closed. These three dimensions (length, width, and height) will give you the total space available for the mattress and any other accompanying items.

It’s also important to measure the hatch opening itself. Opening clearance can sometimes be more restrictive than the cargo area. Measure the width and height of the hatch opening to ensure the mattress won’t need to bend or compress too much when loading. Use a tape measure rather than a visual assessment, since even small differences in size can prevent a safe or snug fit. Once you have these numbers, compare them to your mattress dimensions to confirm compatibility before purchasing.

Can I sleep comfortably on a mattress in the back of a RAV4?

Yes, you can sleep comfortably on a mattress placed in the back of a RAV4 when the rear seats are folded flat, providing a surface that approximates a bed at home. A full or twin mattress can offer sufficient comfort for camping trips or roadside rest stops, especially if it’s a quality foam or hybrid mattress. The flat cargo area in most RAV4 models provides a level sleeping platform, improving overall sleep quality compared to trying to sleep on uneven seats.

However, comfort will depend on the mattress thickness and the RAV4’s interior layout. Thicker mattresses (around 8-10 inches) will offer more cushioning and insulation from cold ground, but may make hatch closing difficult. Some owners supplement foam mattresses with sleeping bags, mattress toppers, or camping pads to increase comfort while reducing the mattress footprint. Additionally, weather conditions and location must be considered—ideally, this arrangement is best for dry, safe, level locations where overnight parking is allowed.