Depending on your actual Zoning designation. Most of the straight "R" designations in your county does not allow for RV use outside of a "temporary" use. Staying in the RV on your property over the weekend appears to be acceptable, but longer and you may be in violation of Zoning, Building and Fire codes. However, your local AHJ will be the proper source.
Usually, if it's behind a fence, out of sight, you may get away with it, but it only takes one neighbor to make the call and you could have trouble. So, keep your neighbors happy!
1994 Itasca SunDancer 21RB - Chevy G-30 chassis.