The RCA has historically held to amillennialism as the predominant eschatological position, understanding the thousand years of Revelation 20 symbolically as the church age. However, in recent decades the denomination has experienced increasing diversity in eschatological views.

While amillennialism remains common, some RCA congregations and members hold postmillennial views (expecting a golden age of gospel advancement before Christ's return) or premillennial views (expecting Christ to return and establish a literal earthly kingdom). The RCA does not impose a single eschatological system and treats this as a matter on which evangelical Christians may legitimately differ.

Despite this diversity, the RCA maintains consensus on core eschatological truths: Christ will literally and visibly return, the dead will be raised, final judgment will occur, and the eternal state will be consummated. The millennium question is secondary to these certainties.