Tiny home rules in Centennial, CO — covering tiny houses on wheels (THOWs), park model RVs, and tiny home on foundation builds — determine where they are legal and how they get permitted.
Arapahoe County treats foundation-built tiny homes under 400 sq ft as dwellings governed by 2018 IRC Appendix Q. Tiny homes on wheels are classified as RVs under CRS 42-1-102(61) and generally cannot serve as permanent dwellings in residential zones.
Arapahoe County regulates tiny homes based on construction type. Foundation-built tiny homes (THOF) are treated as single-family dwellings and must meet the 2018 IRC including Appendix Q, which provides relaxed ceiling, stair, and loft standards for dwellings under 400 sq ft. Building permit, septic or sewer connection, and standard setbacks/zoning apply. In unincorporated Arapahoe County's residential zones (R-A, R-E, R-S), minimum dwelling size is typically not specified, so Appendix Q tiny homes are allowed. Tiny homes on wheels (THOW) are classified as RVs/park models under Colorado state law and cannot be used as permanent residences on residential lots. THOWs may be stored on residential property (subject to RV storage setback rules) but cannot be connected to permanent utilities for full-time occupancy. Colorado HB 24-1152 state ADU mandate (effective June 2025) may provide a pathway for tiny homes as ADUs in qualifying jurisdictions. Park model RVs may be permitted in licensed RV parks only.
Occupying THOW as full-time residence: zoning violation, $100-$500 per day until removed or converted. Unpermitted foundation tiny home: stop-work, required retroactive permit. Unauthorized utility connections: removal required.
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Side-by-side rule comparisons with other cities in Arapahoe County.
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