'autocamper' originates from Modern English, specifically the compound of 'auto' + 'camper', where 'auto' is short for 'automobile' (ultimately from Greek 'autós' meaning 'self' via 'automobile') and 'camper' derives from 'camp' (from Latin 'campus' meaning 'field').

'autocamper' was formed in the mid-20th century as automobile travel and leisure camping became common; it combines the element 'auto' (from 'automobile', borrowed via French) with 'camper' (from older English 'camp' ultimately from Latin 'campus').

Initially coined to describe a vehicle used for camping that was self-propelled ('self-moving camp vehicle'), it has come to be used generally for motorhomes and campervans with living accommodations.