Toyota Tacoma Camping Setup: Complete Guide to Tacoma Truck Camping
Introduction: The Tacoma's Legendary Camping Reputation
The Toyota Tacoma has earned its place as the quintessential overlanding and truck camping platform. Its combination of legendary Toyota reliability, excellent off-road capability, and active aftermarket make it arguably the most popular truck for camping adventures. From weekend camping trips to round-the-world expeditions, the Tacoma has proven itself countless times.
The Tacoma offers two bed lengths: the short bed (5') on Double Cab models and the long bed (6') on Access Cab models. While tighter than full-size trucks, the Tacoma's bed provides adequate sleeping space with proper setup. The real advantage is getting your camping rig to places larger trucks can't reach.
This guide covers everything for Tacoma camping: choosing between camper shells and truck tents, selecting the right mattress for your bed length, building or buying a sleeping platform, and organizing gear efficiently. Whether you're building a weekend adventure setup or a full overlanding rig, your Tacoma is up to the task.
Tacoma Bed Dimensions by Generation and Configuration
Knowing your exact bed dimensions is crucial for gear selection.
3rd Generation Tacoma (2016-Present)
Short Bed (5' / 60.5"): - Interior length: 60.5" - Width at floor: 41.5" - Width at rails: 47" - Width between wheel wells: 41" - Depth: 19.1"
Long Bed (6' / 73.7"): - Interior length: 73.7" - Width at floor: 41.5" - Width at rails: 47" - Width between wheel wells: 41" - Depth: 19.1"
2nd Generation Tacoma (2005-2015)
Similar dimensions with slight variations: - Short bed: ~61" - Long bed: ~74" - Width between wheel wells: ~40"
Sleeping Space Reality
| Bed Length | Usable Length | Who Fits |
|---|---|---|
| Short (5') | 60" | Up to 5'4" straight, 5'8" diagonal |
| Long (6') | 73" | Up to 6' straight, 6'4" diagonal |
| Short + tailgate down | 78"+ | Anyone (with tent/shell) |
The width limitation: At 41" between wheel wells, the Tacoma bed is narrower than full-size trucks. One person sleeps comfortably; two is tight. A platform above wheel wells provides 47" width.
Camper Shell vs Truck Tent: The Key Decision
Your choice of cover determines your camping style. Both work well; choose based on your priorities.
Camper Shells (Toppers/Canopies)
A camper shell transforms your Tacoma bed into a permanent enclosed space.
Advantages: - Weather protection in all conditions - Secure, lockable storage daily - Interior stays dry in any weather - Available with windows, screens, roof racks - Use bed for storage when not camping - "Always ready" for spontaneous trips
Disadvantages: - Cost: $1,500-3,500+ for quality shell - Adds height (garage clearance issues) - Semi-permanent installation - Reduces bed utility for tall items
Best Tacoma camper shells: - ARE CX Series: Quality construction, good features - Snugtop: Popular, many options - Leer: Good value, wide availability - RSI SmartCap: Premium, integrated features
Truck Tents
A truck tent attaches to your bed rails and tailgate when camping.
Advantages: - Affordable: $150-350 - Extends sleeping length (tent beyond bed) - No permanent modification - Full bed access when not camping - Packs away for storage
Disadvantages: - Setup required each campsite - Less weather protection than shells - Not as secure (canvas sides) - Cannot use while driving - Wind can be problematic
Best Tacoma truck tents: - Napier Backroadz Truck Tent: Good value, Tacoma-specific sizes - Rightline Gear Truck Tent: Quality construction - Kodiak Canvas Truck Tent: Premium, excellent weather protection
Tonneau Covers
Some Tacoma campers use hard tonneau covers for minimal setups:
- Lower profile than shells
- Some headroom for sleeping (limited)
- Works for stealth/minimal camping
- Less ideal than shells for regular use
Best Mattresses for Tacoma Camping
The Tacoma's narrower bed (41" between wheel wells) influences mattress selection.
Air Mattresses
AirBedz Tacoma-Specific - Designed for Tacoma bed dimensions - Includes wheel well cutouts - 12V pump included - Available for short and long bed - Cost: $80-120 - Best for: Easy setup, good value
Luno Air Mattress (Truck version) - Premium fit and quality - Dual chambers - Cost: $200-280 - Best for: Premium experience
Foam Mattresses
Cot-Size Foam (25" × 75") - Fits easily in Tacoma bed - Good for solo camping - 4" thick for comfort - Cost: $60-100 - Best for: Solo minimalists
Twin Narrow (38" × 75") - Fits between wheel wells - More width than cot size - May need slight trimming - Cost: $80-150 - Best for: Comfort priority
Custom-Cut Foam - Cut exactly to Tacoma bed - Include wheel well cutouts - Perfect fit, no wasted space - Cost: $150-250 - Best for: Dedicated campers
Self-Inflating Pads
Exped MegaMat 10 (Single) - 4" thick, excellent comfort - Packs reasonably small - High R-value for cold camping - Cost: $200-280 - Best for: All-season campers
Platform Mattress Considerations
With a platform above wheel wells, you can use wider mattresses: - Full width available: 47" - Full mattress (54" wide) may need trimming - Platform allows mattress to span wheel well area
Tacoma Sleeping Platform Builds
A sleeping platform is the most impactful upgrade for Tacoma camping. It provides level sleeping, organized storage, and can extend your sleeping length.
Platform Benefits
- Level surface: Eliminates ridged bed floor
- Storage underneath: Organized gear access
- Width above wheel wells: Use full 47" bed width
- Length extension: Platform can cantilever over wheel wells
- Insulation: Air space buffers from hot/cold bed floor
DIY Platform Design Basics
Materials: - 3/4" plywood (birch for weight savings) - 2×3 or 2×4 frame - Hardware (screws, bolts, hinges) - Carpet or padding for top
Standard dimensions: - Height: 10-14" (balance storage vs headroom) - Width: 47" (bed rail to bed rail) - Length: Full bed length + cantilever if desired
Design features: - Hinged or removable panels for storage access - Drawer slide-outs (more complex but convenient) - Anchor points using bed rail holes - Folding design if you need bed for hauling
Commercial Tacoma Platforms
Goose Gear Tacoma System ($1,000-2,000+) - Purpose-built for Tacoma - Multiple configurations - Quality construction - Drawers available
Decked Truck Bed Storage ($1,200-1,400) - Drawer system with flat top - Organized storage - Works as platform base - Very sturdy construction
BuiltRight Bedside Rack System ($300-600) - Modular storage organization - Can combine with DIY platform - Multiple mounting options
Simple No-Build Solution
For occasional camping: 1. Place storage bins in wheel well areas 2. Lay plywood across bins 3. Add mattress on top 4. Remove when needed for hauling
Cost: Under $100, 10 minutes setup
Tacoma-Specific Gear and Accessories
The Tacoma has extensive aftermarket support for camping accessories.
Bed Accessories
Bed racks: - Prinsu Tacoma Rack - Uptop Overland Rack - CBI Off-road Bed Rack - Support rooftop tents, gear storage, awnings
Bed lighting: - LED strip lights under shell - 12V puck lights - Battery-powered options
Power access: - Factory bed outlet (some trims) - Add-on 12V outlets - Dual battery setups popular for overlanding
Exterior Accessories
Awnings: - ARB, Rhino-Rack, and others - Mount to bed rack or roof rack - Essential for outdoor living space
Recovery gear: - Maxtrax traction boards - Hi-Lift jack (with proper mounting) - Recovery straps and shackles - Shovel
Lighting: - LED light bars - Ditch lights - Rock lights for camp illumination
Organization Solutions
Bed storage: - Decked drawer system - DIY drawers - Soft storage bags - Pelican cases
Cab storage: - Back seat organizers (Access Cab under-seat, Double Cab behind seats) - Overhead console additions - Center console organizers
Rooftop Tents (RTT)
Many Tacoma campers add RTTs for additional sleeping:
Advantages: - Separate sleeping from gear storage - Quick setup - Comfortable sleeping platform included - Above ground (bugs, moisture)
Disadvantages: - Cost ($1,000-4,000+) - Requires bed rack - Adds height and weight - Must climb ladder
RTTs work well combined with bed storage system—sleep up top, gear organized in bed.
Tacoma Camping Tips and Tricks
Advice from experienced Tacoma campers:
Short Bed (5') Strategies
The short bed's 60" length is challenging for taller campers:
- Sleep diagonally: Gains a few inches
- Tailgate down + tent: Extends to 78"+ with truck tent
- Rooftop tent: Separate sleeping space
- Hammock alternative: Between trees, Tacoma as base camp
- Accept the cozy: Some campers simply curl up slightly
Long Bed (6') Advantages
The long bed's 73" provides much more flexibility:
- Comfortable for people up to ~6'
- Easier to fit gear alongside mattress
- Platform builds are simpler
- Worth considering for camping-focused buyers
Maximizing Space
- Dual-purpose gear: Items that serve multiple functions
- Compression bags: Reduce soft goods volume
- Roof storage: Rack/basket for bulky items
- Under-platform organization: Maximize that space
- Exterior storage: Rear bumper boxes, bed rail boxes
Pre-Trip Checklist
- ☐ Check tire pressure (appropriate for terrain)
- ☐ Test all lights (bed lights, exterior)
- ☐ Confirm 12V outlets working
- ☐ Verify camper shell/tent secure
- ☐ Check mattress for leaks (if air)
- ☐ Organize gear in designated spots
- ☐ Charge portable power stations
- ☐ Check weather forecast, adjust gear
At Camp
- Level the truck (nose slightly downhill for sleeping)
- Set up kitchen area outside before dark
- Position for morning sun/shade preference
- Have headlamp and water in sleeping area
- Set up window/shell vents before bed
Frequently Asked Questions
Can you sleep in a Toyota Tacoma?
Yes—with the right setup. The short bed (5') works for people up to about 5'4" sleeping straight, or taller with diagonal positioning or tailgate tent. The long bed (6') fits people up to about 6'. A camper shell or truck tent is recommended for weather protection.
Should I get a short bed or long bed Tacoma for camping?
If camping is a priority, the long bed (6') provides significantly more usable sleeping space—73" vs 60". The long bed is only available on Access Cab (extended cab), which has less back seat space. Consider your total priorities: daily use, passenger needs, and camping frequency.
What size camper shell fits a Tacoma?
Camper shells are bed-length specific: get a 5' shell for the short bed, 6' shell for the long bed. Popular brands include ARE, Snugtop, and Leer. Ensure the shell is model-year specific—dimensions have slight variations between generations.
Is the Tacoma good for overlanding?
Excellent. The Tacoma is arguably the most popular overlanding truck due to Toyota reliability, excellent off-road capability (especially TRD Off-Road and TRD Pro), manageable size for tight trails, and massive aftermarket support.
Do I need a sleeping platform for Tacoma camping?
Not required, but highly recommended for regular camping. A platform provides level sleeping, organized storage underneath, and can span above wheel wells for more width. For occasional camping, just a mattress on the bed floor works fine.
What mattress fits a Tacoma bed?
Tacoma-specific air mattresses fit best. For foam, cot-size (25" × 75") or narrow twin (38" × 75") fit between wheel wells. With a platform above wheel wells, wider mattresses work. Custom-cut foam provides perfect fit.
How do I ventilate a Tacoma camper shell?
Most shells have sliding side windows and a rear window. Open them for cross-ventilation. Add a small 12V fan to move air. Screen inserts keep bugs out. Crack tailgate slightly if shell allows.
Can two people sleep in a Tacoma?
Very tight. The 41" width between wheel wells barely fits two. A platform above wheel wells provides 47"—still cozy but workable. Most Tacoma setups are optimized for solo camping. Couples often add a rooftop tent.
Tacoma vs 4Runner for camping—which is better?
Different strengths. Tacoma: more sleeping length (with shell), bed utility, often better off-road. 4Runner: enclosed sleeping space (no shell needed), climate control access while inside, easier daily driving. Choose based on how you'll use the vehicle.
What's the best Tacoma trim for camping?
TRD Off-Road or TRD Pro for serious off-road capability (locking rear differential, crawl control). SR5 works fine for general camping. The main consideration is bed length—prioritize long bed if camping is primary use.
How do I stay warm sleeping in my Tacoma in winter?
Use insulated window covers in the shell, a sleeping bag rated well below expected temps, insulated sleeping pad (R-value 5+), and close all vents except a small opening for fresh air. Body heat warms the small space. Never run the engine for heat.