Day 1: Perth to Fremantle 

Distance: 23 kms 
Travel time: ~0.5 hours 

Your trip begins with the short drive from Perth to Fremantle, an easy first leg that lets you settle into your campervan itinerary without any pressure. Fremantle has a distinct personality, blending grand heritage architecture with a working harbour, beachside energy and a strong food scene. Because the drive is so quick, you can arrive with plenty of time to get parked up and spend the rest of the day exploring at a slow pace. 

Where to stop between Perth and Fremantle 

The route from Perth to Fremantle is best enjoyed without too many detours, but a few scenic pauses make the drive feel like the holiday has properly begun. Following the river and coast, you could stop around Cottesloe for ocean views, a coffee, or a walk along the sand. It is a classic Perth beach stop and a lovely way to ease into the trip. If you would rather keep going, simply enjoy the short drive and save your energy for wandering Fremantle on foot. 

Things to do in Fremantle 

Once you arrive, spend the afternoon soaking up Fremantle’s atmosphere. The historic streets are lined with old port buildings, pubs, boutiques and cafes, making this one of the most enjoyable urban stops on any Perth itinerary. Fremantle Markets is a great place to start, especially if fresh seafood by the water sounds appealing. Fremantle Prison is ideal for a sunset stroll, while the Fremantle Markets add a lively local feel if they are open during your visit. If you enjoy history, Fremantle Prison offers one of the area’s most memorable heritage experiences. The beauty of Fremantle is that it suits unhurried exploring, so leave room in the day to simply wander and see what catches your eye. 

Where to stay in Fremantle 

For a convenient campervan stay, Discovery Parks - Woodman Point is a strong option, with powered sites and easy access to both Fremantle and the coast. Another good choice is Fremantle Village, which gives you a practical base close enough to dip in and out of town while still enjoying a relaxed caravan park setting. 

 

Day 2: Fremantle 

Distance: 0 kms 
Travel time: ~0 hours 

A second day in Fremantle gives this campervan road trip a relaxed rhythm and opens the door to one of Western Australia’s most iconic day trips. Leave the campervan parked on the mainland and head out for a Perth to Rottnest Island experience. With no driving to think about today, you can focus completely on the island and enjoy a full day outdoors before returning to the same base in Fremantle for the night. 

Where to stop in Fremantle 

Before boarding your ferry, enjoy a slow breakfast in town and take a walk around the harbour precinct. One of the best things about structuring the trip this way is the flexibility. Because you are not packing up camp or moving locations, the day feels easy from the start. It is a simple way to build a more enjoyable Perth to Rottnest Island outing into your itinerary. 

Things to do in Fremantle 

Today’s headline experience is Rottnest Island, well known for brilliant bays, coastal lookouts, car-free roads and the ever-popular Rottnest Island quokkas. Once you arrive, you can explore at your own pace, whether that means cycling between beaches, taking a coastal walk, swimming in sheltered water or simply enjoying a long lunch with sea views. The island has an easy holiday feel that pairs perfectly with a short Perth getaway. Warmer months are especially popular for swimming and snorkelling, while spring brings mild weather and seasonal wildflowers. In winter, the experience shifts slightly, but coastal walks and seasonal whale spotting still give the trip plenty of appeal. Back in Fremantle, finish the day with dinner by the water or a relaxed evening drink in town. 

Where to stay in Fremantle 

Stay a second night at Discovery Parks - Woodman Point or Fremantle Village so you can enjoy the island at a comfortable pace and return to the same setup. Two nights in one place helps this campervan itinerary feel especially easy. 

 

Day 3: Fremantle to Rockingham 

Distance: 50 kms 
Travel time: ~1 hour 

Today you continue south on a gentle coastal drive that keeps things light on travel and big on scenery. This section of the journey is often overlooked, but it works beautifully in a short Western Australia itinerary thanks to the beaches, marine experiences and easy pace. With only around an hour of driving, you will have plenty of time to stop along the way and settle into Rockingham by the afternoon. 

Where to stop between Fremantle and Rockingham 

As you travel south, take advantage of the coastal route with a few informal stops to break up the drive. Coogee and the Kwinana coastline are pleasant places for a quick leg stretch or a coffee stop, especially if you enjoy quieter waterfront areas. This is not a day that needs strict planning. Part of the charm is being able to pause for a beach view, a picnic or a foreshore walk whenever the mood strikes, then continue on to Rockingham without feeling rushed. 

Things to do in Rockingham 

Rockingham is best known as the gateway to Penguin Island, making it a standout addition to this Perth road trip. Leave the campervan on the mainland and plan your island visit around conditions, as access can vary with season and weather. When open, Penguin Island is known for its little penguins, seabirds, shallow turquoise water and simple boardwalk scenery, giving you another rewarding wildlife stop on the trip. If island access is unavailable, Rockingham still delivers with calm beaches, a relaxed foreshore and good spots for a sunset walk or casual dinner by the sea. Either way, the area offers an easy, outdoorsy day that fits the spirit of a short coastal campervan itinerary. 

Where to stay in Rockingham 

Discovery Parks - Woodman Point can still work if you prefer to stay slightly north and keep a familiar base. If you would rather overnight closer to Rockingham, choose a local campervan-friendly option in the area such as Cee & See Caravan Park, which gives you a practical base for exploring the coast and continuing south to Mandurah the next day. 

 

Day 4: Rockingham to Mandurah 

Distance: 50 kms 
Travel time: ~1 hour 

Another short drive keeps the trip relaxed as you continue on from Rockingham to Mandurah. This leg shifts the scenery from open beaches to estuaries, inlets and canals, giving the journey a slightly different feel. Mandurah is one of the easiest and most rewarding additions to a Perth to Mandurah escape, especially if you enjoy time by the water and places with a laid-back holiday atmosphere. 

Where to stop between Rockingham and Mandurah 

On the way south, Secret Harbour and Golden Bay are worthwhile places to pause for a beach walk and some fresh air. These long sandy stretches have a broad, open feel and are ideal for a low-key stop before you continue. As you near Mandurah, the Peel region’s waterways become more noticeable, bringing with them birdlife, calmer water views and a softer landscape than the surf beaches farther north. 

Things to do in Mandurah 

Mandurah is all about making the most of the waterfront. A scenic cruise is one of the best ways to experience the area, giving you a relaxed look at the estuary, canal homes and the resident dolphins that are often seen in these waterways. Back on land, spend time around the foreshore, browse cafes and enjoy an easy walk beside the water. If you prefer to stay active, waterfront paths make cycling a good option, and the calm conditions can also suit a gentle paddle. The town has an easy social feel in the late afternoon and evening, especially around the marina, making it a lovely place to slow down over dinner after a day of light exploring. 

Where to stay in Mandurah 

Mandurah Caravan and Tourist Park is a reliable campervan-friendly option with easy access to town and the waterfront. Another convenient base is Mandurah Coastal Holiday Park, which works well if you want a comfortable setup close to the beaches and central attractions. 

 

Day 5: Mandurah to Perth 

Distance: 72 kms 
Travel time: ~1 hour 

Your final day takes you back north to Perth, wrapping up this short but rewarding coastal loop. The drive is straightforward, so there is no need to leave in a hurry. Instead, use the morning to enjoy one last taste of Mandurah before making your way back to the city. It is a fitting end to a trip designed around easy driving, outdoor experiences and the freedom of a relaxed campervan road trip. 

Where to stop between Mandurah and Perth 

Before you leave, enjoy breakfast by the foreshore or fit in one last walk beside the water. On the return drive, you can stop again around Secret Harbour if you missed it on the way down, or keep the run north simple and save your spare time for Perth itself. Because the Perth to Mandurah route is such an easy drive, you have flexibility to shape the final day around your drop-off timing. 

Things to do in Perth 

If your schedule allows before returning the campervan, Perth is a pleasant place to finish the trip. Kings Park, the Swan River and South Perth all make easy final stops and offer a gentle transition back to city life after several days along the coast. It also reinforces one of the best things about this Perth itinerary, which is how many rewarding destinations sit within easy reach of the city. 

Where to stay in Perth 

If you need one final overnight stay before or after drop-off, a campervan-friendly option such as Discovery Parks - Perth Airport offers a practical base. Otherwise, return your vehicle in Perth and wrap up the trip there. 

 

 

 

FAQs and quick answers 

1. When is the best time to do this itinerary?  
   Spring to early autumn is excellent for this trip, especially if Rottnest Island and Penguin Island are high on your list. Summer is ideal for swimming, while spring adds mild weather and wildflowers. 
    

2. Can you take a campervan to Rottnest Island?  
   No. The campervan stays on the mainland, and the easiest option is to base yourself in Fremantle and take a day ferry over. 
    

3. Are Rottnest Island quokkas easy to spot?  
   Yes, they are one of the island’s best-known attractions and are often seen around the settlement area and walking tracks. Always give them space and avoid feeding them. 
    

4. Is Penguin Island open all year?  
   Penguin Island access can vary with season and weather, so it is worth checking conditions before your visit. Even if access changes, Rockingham’s foreshore is still well worth your time. 
    

5. Is Mandurah worth adding to a short Perth road trip?  
   Absolutely. It is an easy drive from Perth and adds a different waterside feel to the trip, with canals, estuary views, dolphins and a relaxed foreshore atmosphere. 
    

6. Should I book caravan parks in advance?  
   Yes, especially for weekends, school holidays and summer. These coastal spots are popular for short breaks, so booking ahead helps keep your trip smooth. 

 

This five-day loop is proof that a memorable Western Australia itinerary does not need huge distances to feel special. From Perth to Fremantle, across to Rottnest Island , down to Penguin Island and on to Mandurah waterside charm, every stop brings a slightly different side of the coast into view. If you are after a short and scenic campervan itinerary with minimal driving and maximum holiday atmosphere, this is an easy trip to love. 

When you’re ready, you can easily book your Apollo camper online and pick it up from your closest Apollo branch before setting off on this relaxed coastal escape from Perth.