Keen to tackle some Western Australia road trips? If you're new to RVing, a great place to start is by exploring WA's stunning coastline. A Perth to Esperance 12-day coastal adventure is packed with charming towns, gorgeous beaches, lush rainforests, and plenty of walks and wildlife along the way—it's the perfect mix of relaxing vibes and cruising adventure. When you're ready to head home, follow the same way back or consider another route—a Coral Coast road trip, exploring the Kimberley, the South West Wine and Forests Loop, or an epic Nullarbor Plain Crossing. So whatever path you choose, buckle up, hit the road, and get ready for a trip full of unforgettable memories.

Road Trip to Western Australia: Fast Facts

• Time: 12 days
• Distance: ~1410 km
• Nearest major city: Perth

Road trip WA: 12-Day Itinerary Summary

• Day 1: Rottnest Island & Fremantle
• Day 2: Fremantle to Mandurah
• Day 3: Mandurah to Bunbury
• Day 4: Bunbury to Margaret River
• Day 5: Margaret River
• Day 6: Margaret River to Hamelin Bay
• Day 7: Hamelin Bay to Pemberton
• Day 8: Pemberton to Denmark: Trails & Tree Top Walks
• Day 9: Denmark to Albany
• Day 10: Albany to Bremer Bay
• Day 11: Bremer Bay to Hopetoun
• Day 12: Hopetoun to Esperance

Essential Checklist for Travel in Western Australia

• Inspect your RV to handle bumpy corrugated roads
• Grab useful camping apps for the trip
• Make a detailed packing checklist
• Fill up on water and fuel before hitting the road
• Plan your routes and where to take breaks
• Pack emergency gear and repair kits just in case
• Double-check your campsite reservations ahead of time

Our Go-To Pick For A West Coast Australia Road Trip

Hit the road for 12 days exploring WA's amazing beaches, forests, wildlife, tasty eats, and quaint townships—perfect for soaking up nature, adventure, and good vibes along the way.

Day 1: Rottnest Island & Fremantle: Snorkelling & Fresh Seafood

Fremantle

Distance: ~45 km 

Allow: ~2 hrs

Stay: Fremantle Village 

Bonus RV Tip: Book Rottnest Island ferry tickets in advance, especially in peak season.

Starting your journey in Perth, catch a ferry to picturesque Rottnest Island. Three main operators depart from Perth City, North Fremantle, Fremantle and Hillarys Boat Harbour. Ferry travel time will depend on where you leave from, ranging from around 25 minutes to up to 90 minutes. Rottnest Island has 63 sparkling beaches (good luck choosing one!), and is home to what many think is the world's cutest and most photogenic marsupial, the quokka. Rottnest also has stunning marine life, which is easily accessible from the island's bays and beaches (pack your snorkelling gear!) You can also hire a bike or climb aboard Rottnest Cruises' seafood cruise and gorge yourself silly on fresh lobster and a sip of sparkling wine. Once you're back in 'Freo', head to the Fishing Boat Harbour precinct for a low-key meal with views before you turn in for the night. 

Day 2: Fremantle to Mandurah: Markets & Modern Dining

Dolphin Quay, Mandurah

Distance: ~80 km 

Allow: ~1 hr

Stay: Mandurah Caravan & Tourist Park

Bonus RV Tip: Take the scenic coastal route via Rockingham for beach stops.

If you're in Fremantle from Friday to Sunday, grab a road trip brekkie at the iconic Fremantle Markets. Then drive south to Mandurah, and stretch your legs with a seaside walk with Indian Ocean views along the Halls Head Coastal Trail. Hop on a dolphin cruise or scenic boat tour through the Peel-Harvey Estuary, and at the end of the day, head to Dolphin Quay, where you'll find waterfront cafes and seafood restaurants perfect for a sunset dinner.

Day 3: Mandurah to Bunbury: Wines & Wild Dolphins

Falcon Bay Beach

Distance: ~150 km 

Allow: ~2 hrs

Stay: Discovery Parks ‑ Bunbury Foreshore

Bonus RV Tip: Stop at Harvey for fresh local produce and a break.

There's no better way to start your day than with a dip in a calming ocean. Do as the locals do and dive into the sparkling waters of Falcon Bay Beach, a scenic 500-metre stretch of sheltered shoreline, ideal for a morning swim or beach walk. After drying off, begin your journey south to Bunbury. Along the way, detour through the Ferguson Valley or Harvey wine region to visit boutique cellar doors and sample small-batch, 'bud to bottle' local wines. Once in Bunbury, a must-visit is the Dolphin Discovery Centre, located right on Koombana Bay. Here, you can learn about local marine life, interact with wild dolphins in their natural environment, and even book an eco-cruise or dolphin swim experience.

Day 4: Bunbury to Margaret River: Fishy & Forest Adventures

Bussleton Jetty

Distance: ~95 km 

Allow: ~1.5 hrs

Stay: Margaret River Tourist Park 

 Bonus RV Tip: Fuel up before entering Margaret River as stations can be limited.

On day four of your road tripping adventure, head to Busselton, which is located on the family-friendly haven of Geographe Bay. On the way, consider a detour to Forest Adventures (around 30 minutes from Bunbury), where you can experience adrenaline-filled fun on flying foxes, among the majestic trees of the Ludlow Tuart Forest. Once you reach Busselton, take a dip in Geographe Bay, renowned for its calm, turquoise waters and soft white sands. Then explore the beautifully restored Busselton Jetty—one of the longest piers in the Southern Hemisphere (it stretches for nearly 2 kilometres! You should also visit the Busselton Underwater Observatory, where you'll descend eight metres below the surface to see one of Australia's greatest artificial reefs alive with corals, fish and invertebrates. Spend the night in Margaret River (get a good night's sleep, as there's lots to do tomorrow!)

Day 5: Margaret River: Canopies & Ancient Caves

 Lake Cave

Bonus RV Tip: Pack layers—coastal weather can change quickly.

Spend your morning with a swim at Gnarabup Beach or head to Surfers Point for legendary waves or to watch the pros in action. If you're here on a Saturday, visit the Margaret River Markets and grab some handmade chocolates, fresh produce, and artisan cheese for the rest of your journey. After lunch, wander beneath the towering Karri trees in the idyllic Boranup Forest or explore the area's ancient caves. These include Lake Cave (with its divine reflective lake), Jewel Cave (filled with stunning crystal formations), and Mammoth Cave (a lovely combination of a cave and a forest walk). Then enjoy a 'sundowner' at some of the area's world-class wineries before heading back to camp.

Day 6: Margaret River to Hamelin Bay: Canoeing & Cultural Tours

Ngilgi Cave

Distance: ~82 km 

Allow: ~1.5 hrs

Stay: Hamlin Bay Holiday Park 

Bonus RV Tip: Fuel up before leaving Margaret River—there are limited stations en-route.

Discover Ngilgi Cave's magic on a fascinating Aboriginal cultural tour, where you can wander through illuminated caverns. If you love adventure, try stand-up paddleboarding, rock climbing, or abseiling. Prefer something a bit less energetic? Enjoy a peaceful canoe trip along the scenic Margaret River, then head to your caravan park where you can watch playful manta rays and dolphins from the shore before gathering around a campfire beneath the trees for a perfect end to the day.

Day 7: Hamelin Bay to Pemberton: Walks & Whale Action

Cape Leeuwin Lighthouse

Distance: ~250 km 

Allow: ~3 hrs

Stay: Pemberton Caravan Park 

Bonus RV Tip: Drive carefully on winding forest roads, and watch for logging trucks.

A short drive from Hamelin Bay is Augusta. If you're heading here between August and October, don't miss an unforgettable whale watching tour for epic thrills on the open ocean. Then make your way to 

Cape Leeuwin, where the Indian and Southern oceans meet at the southwestern tip of Australia. The Cape Leeuwin Lighthouse is one of Australia's best land-based vantage points for spotting whales on their annual migration. If you're here during June to August, undertake a truffle hunt with the resident truffle-hunting dogs. Afterwards, enjoy a truffle and wine tasting feast (yum!) And when you've reached Pemberton (a former logging town surrounded by soaring white-trunked karri trees), climb a few steps up one of the trees for elevated views, or hike a section of the Bibbulmun Track.

Day 8: Pemberton to Denmark: Trails & Tree Top Walks

Elephant Rocks

Distance: ~220 km 

Allow: ~3 hrs 

Stay: Denmark Rivermouth Caravan Park

Bonus RV Tip: Watch for wildlife on rural roads, especially at dawn and dusk.

The Pemberton to Denmark drive takes you through the heart of WA's southern forests and natural landscapes. As you set off, head south to explore the lush walking trails, suspension bridge, and cascading waterfall at Beedelup Falls. Then, stop off in Walpole to walk the famous Valley of the Giants Tree Top Walk—an elevated trail through ancient red tingle trees, offering panoramic forest views. As you arrive in Denmark, relax at the stunning Greens Pool or take in the breathtaking coastline at Elephant Rocks, where giant granite boulders meet turquoise waters. Sample local wine, cheeses, and handmade treats at boutique wineries and gourmet producers, and explore the scenic Mount Shadforth Drive for sweeping rural and ocean views.

Day 9: Denmark to Albany: Anzacs & Awe-Inspiring Views

Lowlands Beach

Distance: ~140 km

Allow: ~2 hrs

Stay: Tasman Holiday Parks – Albany

Bonus RV Tip: Fuel up in Denmark or Albany—options are limited in between.

The Denmark to Albany drive is filled with natural beauty and coastal charm. Start your trip with a coffee and stroll through Denmark's boutique shops, then head east to Lowlands Beach for a peaceful, uncrowded coastal escape. Just before Albany, explore the dramatic cliffs and blowholes of West Cape Howe National Park. In Albany, step back in time at the National Anzac Centre or wander through the historic precinct overlooking King George Sound. Take in the stunning views at The Gap and Natural Bridge in Torndirrup National Park, where the Southern Ocean crashes below. End your day with local seafood and wine at one of Albany's restaurants or wineries nestled in the surrounding hills.

Day 10: Albany to Bremer Bay: Peaks & Pristine Beaches

Granite Skywalk

Distance: ~245 km 

Allow: ~3 hrs

Stay: Bremer Bay Beaches Resort Tourist Park

Bonus RV Tip: Check weather conditions; coastal roads can be slippery when wet.

If you leave Albany on a Sunday, don't miss the Albany Farmers Market, where you'll find fresh produce and handmade treats. Climb the Granite Skywalk in Porongurup National Park. This suspended walkway rises 670 metres above sea level, providing stunning panoramic views. For breathtaking hikes, continue to Stirling Range National Park. Challenge yourself with a climb up Bluff Knoll, one of Western Australia's highest peaks, or head further east to Bremer Bay, where you can relax on pristine beaches, try world-class fishing, and explore the incredible biodiversity of Fitzgerald River National Park.

Day 11: Bremer Bay to Hopetoun: Flora & Frolicking Orcas

Fitzgerald River National Park

Distance: ~360 km 

Allow: ~4.5 hrs

Stay: Wavecrest Tourist Park

Bonus RV Tip: Fuel up in Bremer Bay or Ravensthorpe as there are limited stops in between.

From February to April, join a charter off the coast at Bremer Bay to watch the gathering of the largest pod of orcas in the Southern Hemisphere. This is a rare sight, and the reason orcas gather here is still unknown. Explore the spoils of Fitzgerald River National Park, home to abundant native wildlife and plants. In fact, 75 per cent of the park's plants are found nowhere else! Go for a swim at Barrens Beach, hike gorgeous trails and admire panoramic views. Stop at Ravensthorpe, known for its spectacular displays of wildflowers during spring (September to November). Discover the locals' secret spots on a tour during the Ravensthorpe Wildflower Festival in September, or check out the town's impressive silo mural.

Day 12: Hopetoun to Esperance: Beaches & Vibrant Blooms

Lucky Bay, Cape Le Grand National Park

Distance: ~345 km 

Allow: ~4 hrs

Stay: RAC Esperance Holiday Park

Bonus RV Tip: Stop at Cape Le Grand National Park near Esperance for stunning beaches.

On a drive from Hopetoun to Esperance, you'll pass through Western Australia's pristine southern coastline. Stretching just over 180 kilometres, along the way you'll pass stunning beaches and the rugged bushland of Fitzgerald River National Park. Heading into Esperance, the landscape transforms into iconic spots, such as Twilight Beach. Whether you're exploring coastal trails or soaking up the scenery and culture, this route promises a memorable experience in one of Australia's most unspoiled coastal regions.

References: 

Carly Spek (2025), 12-day road trip through Western Australia's Southwest Edge, australia.com article, accessed 24 Sep 2025.