Fee schedule from Minnesota's official rules above.
Minnesota RV Registration: The Fee Breakdown
Correction: Minnesota taxes self-propelled motor homes by weight, not by value/MSRP as this page previously stated (that value-based formula is actually for ordinary passenger cars). Motorhomes use the state's weight-based 'base rate schedule,' shown above, at 100% for years 1-8 and 75% of that amount from year 9 onward. Non-motorized travel trailers are taxed separately: trailers over 3,000 lbs pay 30% of this same schedule; trailers 3,000 lbs or under instead get a one-time $55 permanent registration with no annual renewal.
| Gross Weight | Fee |
|---|---|
| Up to 1,500 lbs | $15 |
| 1,501-3,000 lbs | $20 |
| 3,001-4,500 lbs | $25 |
| 4,501-6,000 lbs | $35 |
| 6,001-10,000 lbs | $45 |
| 10,001-12,000 lbs | $70 |
| 12,001-15,000 lbs | $105 |
| 15,001-18,000 lbs | $145 |
| 18,001-21,000 lbs | $190 |
| 21,001+ lbs | $1,760 |
Minnesota vs. Other Popular RV States — Registration Cost
| State | Annual-Equivalent Fee (~20k lb Class A) | Income Tax |
|---|---|---|
| Minnesota | ~$190 | Yes |
| Texas | ~$205 | None |
| South Dakota | ~$396 (0-9 yrs) | None |
| Florida | $58.85 flat | None |
| California | $200–600+ | Yes |
Estimates for a representative ~20,000 lb, $80,000 Class A motorhome, expressed as an annual-equivalent where a state bills less often than yearly.
Is Minnesota a Full-Timer Domicile State?
Minnesota is not commonly chosen as a full-timer domicile state. It has a state income tax, and most full-time RVers instead register in South Dakota, Texas, Florida, Nevada, or Wyoming for a combination of lower costs, tax advantages, and established residency services.
Frequently Asked Questions — Minnesota RV Registration
How much does it cost to register an RV in Minnesota?
In Minnesota, RV registration typically ranges from $15 to $1,760 per year depending on your RV's gross weight — see the fee schedule above for your specific bracket. Always confirm the current fee with your state DMV before registering.
Is Minnesota's RV registration fee based on weight, value, or a flat rate?
Minnesota uses a weight-based registration fee — the heavier your RV's gross weight, the more you pay. It ranges from $15 at the lightest bracket up to $1,760 for the heaviest RVs in our schedule above. It does not depend on your RV's purchase price or current value.
Does Minnesota have a state income tax?
Yes, Minnesota levies a state income tax. If minimizing overall tax burden as a full-time RVer is your priority, states with no income tax (like South Dakota, Texas, Florida, Nevada, or Wyoming) are usually a better domicile choice, even if their registration fee is higher.
Is Minnesota a good state for full-time RVer domicile?
Minnesota isn't typically recommended as a full-timer domicile state. Most full-time RVers instead choose South Dakota, Texas, Florida, Nevada, or Wyoming, which offer a combination of low registration costs, no state income tax, and established mail-forwarding services for establishing residency without a fixed address.
What else should I know about registering an RV in Minnesota?
Correction: Minnesota taxes self-propelled motor homes by weight, not by value/MSRP as this page previously stated (that value-based formula is actually for ordinary passenger cars). Motorhomes use the state's weight-based 'base rate schedule,' shown above, at 100% for years 1-8 and 75% of that amount from year 9 onward. Non-motorized travel trailers are taxed separately: trailers over 3,000 lbs pay 30% of this same schedule; trailers 3,000 lbs or under instead get a one-time $55 permanent registration with no annual renewal.