<PAGE>

                                 UNITED STATES
                      SECURITIES AND EXCHANGE COMMISSION
                            WASHINGTON, D.C. 20549

                                   FORM 10-K

(Mark One)

(X)   ANNUAL REPORT PURSUANT TO SECTION 13 OR 15(d) OF THE SECURITIES EXCHANGE
      ACT OF 1934

                     For the year ended December 31, 2001.

( )   TRANSITION REPORT PURSUANT TO SECTION 13 OR 15(d) OF THE SECURITIES
      EXCHANGE ACT OF 1934

                       Commission file number 333-81455

                       Ryder Vehicle Lease Trust 1999-A
            (Exact name of registrant as specified in its charter)

                      Delaware                       52-7000600
             (State or other jurisdiction of      (I.R.S. Employer
             incorporation or organization)      Identification No.)

                  3600 NW 82/nd/ Avenue, Miami, Florida 33166
              (Address of principal executive offices) (Zip Code)

                                (305) 500-3726
             (Registrant's telephone number, including area code)

Securities registered pursuant to Section 12(b) of the Act: None
Securities registered pursuant to Section 12(g) of the Act: None

Indicate by check mark whether the registrant (1) has filed all reports required
to be filed by Section 13 or 15(d) of the Securities Exchange Act of 1934 during
the preceding 12 months (or for such shorter period that the registrant was
required to file such reports), and (2) has been subject to such filing
requirements for the past 90 days.* Yes  X  No ___
                                        ---
Indicate by check mark if disclosure of delinquent filers pursuant to Item 405
of Regulation S-K is not contained herein, and will not be contained, to the
best of registrant's knowledge, in definitive proxy or information statements
incorporated by reference in Part III of this Form 10-K or any amendment to this
Form 10-K. (X)
<PAGE>

State the aggregate market value of the voting stock held by non-affiliates of
the registrant. The aggregate market value shall be computed by reference to the
price at which the stock was sold, or the average bid and asked price of such
stock, as of a specific date within 60 days prior to the date of filing. (See
definition of affiliate in Rule 405, 17 C.F.R. 230.405): Not Applicable

Documents incorporated by reference: None

* The registrant is an entity that has been organized specifically to issue
asset-backed securities. Various substantially similarly situated issuers have
been issued no-action letters (the "No-Action Letters") by the Commission with
respect to the application of certain of the reporting requirements pursuant to
Section 13 or 15(d) of the Act. This Form 10-K has been prepared based upon the
general guidance provided by such No-Action Letters. The registrant has not made
a request for a separate no-action letter.
<PAGE>

                               TABLE OF CONTENTS

PART I
Item 1.    Business
Item 2.    Properties
Item 3.    Legal Proceedings
Item 4.    Submission of Matters to a Vote of Security Holders

PART II
Item 5.    Market for Registrant's Common Equity and Related Stockholder Matters
Item 6.    Selected Financial Data
Item 7.    Management's Discussion and Analysis of Financial Condition and
           Results of Operations
Item 8.    Financial Statements and Supplementary Data
Item 9.    Changes In And Disagreements With Accountants On Accounting And
           Financial Disclosure
Item 10.   Directors and Executive Officers of the Registrant
Item 11.   Executive Compensation

PART III
Item 12.   Security Ownership of Certain Beneficial Owners and Management
Item 13.   Certain Relationships and Related Transactions

PART IV
Item 14.   Exhibits and Reports on Form 8-K
Signatures

Supplemental Information To Be Furnished With Reports Filed Pursuant To Section
      15(D) Of The Act By Registrants Which Have Not Registered Securities
      Pursuant To Section 12 Of The Act

INDEX TO EXHIBITS
<PAGE>

                                    PART I

ITEM 1.  BUSINESS

Ryder Vehicle Lease Trust 1999-A (the "Trust"), a Delaware business trust, was
formed pursuant to a trust agreement dated as of June 21, 1999, as amended and
restated by an amended and restated trust agreement, dated as of October 1, 1999
(the "Trust Agreement"), between Ryder Funding LP and Chase Manhattan Bank
Delaware, a Delaware banking corporation, as owner trustee. The Trust was
organized under the Delaware Business Trust Act in connection with issuance of
the senior notes described below, and the related subordinated notes and
certificates issued by the Trust, and may only engage in such business as is
specifically authorized in accordance with the terms of the Trust Agreement. The
certificates represent undivided beneficial interests in the Trust, and the
senior notes and the subordinated notes represent obligations of, and are
secured by, the assets of the Trust pursuant to an indenture, dated as of
October 1, 1999, between the Trust and U.S. Bank National Association, a
national banking association, as indenture trustee.

The Trust has registered under the Securities Act of 1933, as amended, and sold
the following senior notes:

<TABLE>
<CAPTION>
Security Description                     Original Principal Amount  Interest Rate per Annum
<S>                                      <C>                        <C>
Asset Backed Senior Notes, Class A-1     $28,000,000                6.165%
Asset Backed Senior Notes, Class A-2     $63,000,000                6.430%
Asset Backed Senior Notes, Class A-3     $54,000,000                6.680%
Asset Backed Senior Notes, Class A-4     $53,000,000                6.890%
Asset Backed Senior Notes, Class A-5     $84,900,000                7.130%
</TABLE>

The Trust generally applies the collected payments described below under "Item
2. Properties" to pay interest and principal on the senior notes, subordinated
notes and certificates issued by the Trust. The Trust prepares a payment date
certificate (i.e., a quarterly report to investors) for each three-month
collection period. The payment date certificate for the three-month period ended
December 31, 2001 was included in the Trust's Current Report on Form 8-K filed
with the Commission on January 22, 2002.
<PAGE>

ITEM 2.  PROPERTIES

The assets of the Trust principally consist of the following:

..  a 99% beneficial interest in special units of beneficial interest
   (collectively, the "SUBI"), which evidences a beneficial interest in certain
   vehicle and lease assets of Ryder Truck Rental LT ("Origination Trust");

..  the right to payments under the SUBI from certain sales proceeds on deposit
   in a SUBI collection account and a residual value surplus account and
   investment earnings (net of losses and investment expenses) on amounts on
   deposit in the SUBI collection account and the residual value surplus
   account;

..  the rights of the Trust under a program operating lease; and

..  other rights as conveyed by the trust agreement;

all as described more fully in the registration statement for the senior notes
(File No. 333-81455, declared effective on November 2, 1999).


The assets of the Origination Trust principally consist of full service
operating leases ("Leases") assigned to the Origination Trust by Ryder Truck
Rental, Inc. ("RTR"), the commercial trucks, highway tractors and trailers
leased under those Leases ("Vehicles") and certain payments under the Leases and
proceeds from the sale of Vehicles.

The primary business purpose of the Origination Trust is to acquire from or at
the direction of RTR, and serve as record holder of title to, the Leases and
Vehicles, in order to facilitate the titling of the vehicles in conjunction with
asset-backed securities transactions.

The Trust receives payments on the program operating lease in an amount
generally equal to payments made on or for those Leases and Vehicles represented
by the SUBI in each three-month collection period. The Trust generally applies
these collected payments to pay interest and principal on the senior notes,
subordinated notes and certificates, in accordance with their terms.

ITEM 3.  LEGAL PROCEEDINGS

As of December 31, 2001, there were no material legal proceedings with respect
to the Trust or the Origination Trust.

ITEM 4.  SUBMISSION OF MATTERS TO A VOTE OF SECURITY HOLDERS

None.
<PAGE>

                                    Part II

ITEM 5.  MARKET FOR REGISTRANT'S COMMON EQUITY AND RELATED STOCKHOLDER MATTERS

The Trust does not issue common shares or stock. The Depository Trust Company is
registered holder of all of the Trust's senior notes. Ryder Funding LP is the
registered holder of all of the Trust's subordinated notes and 1% of the
certificates. The remaining certificates have been issued in a transaction not
involving any public offering. To the best knowledge of the registrant, there is
no established public trading market for the certificates.

ITEM 6.  SELECTED FINANCIAL DATA

Not applicable. See Item 14 "Exhibits" for financial information related to the
Trust.

ITEM 7. MANAGEMENT'S DISCUSSION AND ANALYSIS OF FINANCIAL CONDITION AND RESULTS
OF OPERATIONS

Not applicable. See Item 14 "Exhibits" for financial information related to the
Trust.

ITEM 8.  FINANCIAL STATEMENTS AND SUPPLEMENTARY DATA

Not applicable. See Item 14 "Exhibits" for financial information related to the
Trust.

ITEM 9. CHANGES IN AND DISAGREEMENTS WITH ACCOUNTANTS ON ACCOUNTING AND
FINANCIAL DISCLOSURE

None.

ITEM 10.  DIRECTORS AND EXECUTIVE OFFICERS OF THE REGISTRANT

Not applicable.

ITEM 11.  EXECUTIVE COMPENSATION

Not applicable.
<PAGE>

                                   PART III

ITEM 12. SECURITY OWNERSHIP OF CERTAIN BENEFICIAL OWNERS AND MANAGEMENT

Ryder Funding LP is the beneficial holder of all of the Trust's subordinated
notes and 1% of its certificates. The remaining certificates have been issued in
a transaction not involving any public offering. The following entities own more
than 5% of the specified class of the Trust's senior notes. These positions are
held through participation accounts at the Depository Trust Company ("DTC"). The
administrative agent for the Trust has not been advised that any such DTC
participants are beneficial owners.


<TABLE>
<CAPTION>
Title of Class                  Name and Address of Owner          Principal Amount        Percent of Class
<S>                             <C>                                <C>                     <C>
Senior Notes, Class A-3:        The Bank of New York                $ 3,350,000                  11%
                                925 Patterson Plank Rd.
                                Secaucus, NJ  07094

                                Citibank, N.A.                      $ 1,140,000                   4%
                                3800 Citicorp Center B3-15
                                Tampa, FL  33610

                                JP Morgan Chase Bank                $16,685,000                  54%
                                JP Morgan Investor Services
                                14201 Dallas Parkway
                                12/th/ Floor
                                Mail Code 121
                                Dallas, TX  75240

                                JP Morgan Securities Inc.-          $ 2,200,000                   7%
                                Fixed Income
                                4 New York Plaza
                                9/th/ Floor
                                New York, NY  10041

                                Northern Trust Company              $ 1,625,000                   5%
                                801 S. Canal C-IN
                                Chicago, IL  60607

                                PNC Bank                            $ 1,410,000                   4%
                                National Association
                                1600 Market Street
                                29/th/ Floor
                                Philadelphia, PA  19103

</TABLE>
<PAGE>

<TABLE>
<S>                             <C>                                <C>                        <C>
Senior Notes, Class A-3:        State Street Bank and              $  4,660,000                  15%
(continued)                     Trust Company
                                1776 Heritage Dr.
                                No. Quincy, MA  02171


Senior Notes, Class A-4:        Baird & Company, Inc.              $     54,000                  *1%
                                777 E. Wisconsin Ave
                                Milwaukee, WI  53202

                                Bank of New York                   $  7,500,000                  14%
                                925 Patterson Plank Rd.
                                Secaucus, NJ  07094

                                Bank One Trust Company             $    346,000                  *1%
                                340 South Cleveland Ave
                                Building 350
                                Columbus, OH  43240

                                Bankers Trust Company              $ 20,000,000                  38%
                                648 Grassmere Park Drive
                                Nashville, TN  37211

                                Boston Safe Deposit and            $  6,600,000                  12%
                                Trust Company
                                525 William Penn Place
                                Suite 3631
                                Pittsburgh, PA  15259

                                Investors Bank &                   $ 10,000,000                  19%
                                Trust Company
                                200 Clarendon Street
                                9/th/ Floor
                                Corporate Actions
                                Unit/TOP57
                                Boston, MA  02116
</TABLE>


* Represents the less than sign
<PAGE>

<TABLE>
<S>                             <C>                                <C>                         <C>
Senior Notes, Class A-4:        M&I Marshall & Ilsley Bank         $    600,000                   1%
(continued)                     c/o ADP Proxy Services
                                51 Mercedes Way
                                Edgewood, NY  11717

                                Northern Trust Company             $  5,700,000                  11%
                                801 S. Canal C-IN
                                Chicago, IL  60607

                                State Street Bank and              $  1,500,000                   3%
                                Trust Company
                                1776 Heritage Dr
                                Global Corporate Action
                                Unit JAB 5NW
                                No. Quincy, MA  02171

                                Wilmington Trust Company           $    700,000                   1%
                                Rodney Square North
                                1100 North Market Street
                                Wilmington, DE  19890


Senior Notes, Class A-5:        The Bank of New York               $  2,850,000                   3%
                                925 Patterson Plank Rd.
                                Secaucus, NJ  07094

                                Bankers Trust Company              $  4,350,000                   5%
                                648 Grassmere Park Road
                                Nashville, TN  37211

                                Boston Safe Deposit and            $  1,675,000                   2%
                                Trust Company
                                525 William Penn Place
                                Suite 3631
                                Pittsburgh, PA  15259
</TABLE>
<PAGE>

<TABLE>
<S>                             <C>                                <C>                          <C>
Senior Notes, Class A-5:        Brown Brothers                     $ 7,800,000                   9%
(continued)                     Harriman & Co.
                                63 Wall Street, 8/th/ Floor
                                New York, NY  10005

                                Citibank, N.A.                     $23,000,000                  27%
                                3800 Citicorp Center B3-15
                                Tampa, FL  33610

                                Deseret Trust Company              $ 2,500,000                   3%
                                Gateway Tower East
                                10 East South Temple
                                Suite 470
                                Salt Lake City, UT  84113

                                First Union National Bank          $20,000,000                  24%
                                Philadelphia Main
                                123 South Broad Street
                                DA4901
                                Philadelphia, PA  19109

                                Investors Bank & Trust             $   250,000                  *1%
                                Institutional Custody
                                200 Claredon Street
                                9/th/ Floor
                                Boston, MA  02116

                                JP Morgan Chase Bank               $14,825,000                  17%
                                JP Morgan Investor Services
                                Dallas, TX  75240

                                JP Morgan Chase Bank               $    50,000                  *1%
                                CCSG
                                P.O. Box 2558
                                Houston, TX  77252

                                Northern Trust Company             $ 4,425,000                   5%
                                801 S. Canal C-IN
                                14201 Dallas Pkwy
                                12/th/ Floor, Mail Code 121
                                Chicago, IL  60607
</TABLE>

* Represents the less than sign
<PAGE>

<TABLE>
<S>                             <C>                                <C>                         <C>
Senior Notes, Class A-5:        PNC Bank,                          $  400,000                  *1%
(continued)`                    National Association
                                1600 Market Street
                                29/th/ Floor
                                Philadelphia, PA  19103

                                Prudential Securities              $1,000,000                   1%
                                Incorporated
                                c/o ADP Proxy Services
                                51 Mercedes Way
                                Edgewood, NY  11717

                                State Street Bank and              $1,150,000                   1%
                                Trust Company
                                1776 Heritage Dr
                                Global Corporate Action
                                Unit JAB 5NW
                                No. Quincy, MA  02171

                                Wells Fargo Bank                   $  625,000                   1%
                                Minnesota N.A.
                                733 Marquette Avenue
                                Minneapolis, MN  55479
</TABLE>

* Represents the less than sign
<PAGE>

ITEM 13. CERTAIN RELATIONSHIPS AND RELATED TRANSACTIONS

There were no transactions of the type described in Regulation S-K, Item
404(a)(3) between the Trust and any 5% beneficial owner of the senior notes.


                                    PART IV

ITEM 14. EXHIBITS AND REPORTS ON FORM 8-K

The following exhibits are filed with this report:

    99.5    Annual Officer's Certificate
    99.6    Summary of Quarterly Reports to Investors

Current Reports on Form 8-K filed by the registrant during the last quarter of
2001:

During the fourth quarter of 2001, the Company filed a report on Form 8-K on
October 11, 2001.

Item 5.     Other Events - The Quarterly Report to Investors (Payment Date
            Certificate) for the quarter ended September 30, 2001 was delivered
            to the trustee of the Ryder Vehicle Lease Trust 1999-A on October
            11, 2001.

Item 7.     Financial Statements and Exhibits - Exhibit 99: Quarterly Report to
            Investors (Payment Date Certificate) for the quarter ended September
            30, 2001.
<PAGE>

                                  SIGNATURES

Pursuant to the requirements of Section 13 or 15(d) of the Securities and
Exchange Act of 1934, the registrant has duly caused this report to be signed on
its behalf by the undersigned, thereunto duly authorized.

                                      RYDER VEHICLE LEASE TRUST 1999-A
                                      (Registrant)



Date:  March  25, 2002                /s/ W. Daniel Susik
                                      ----------------------------------------
                                      W. Daniel Susik
                                      Senior Vice President and Treasurer
                                      Ryder Truck Rental, Inc.

                                      (Duly Authorized Officer of the
                                       Administrator on behalf of the Trust)


SUPPLEMENTAL INFORMATION TO BE FURNISHED WITH REPORTS FILED PURSUANT TO SECTION
15(d) OF THE ACT BY REGISTRANTS WHICH HAVE NOT REGISTERED SECURITIES PURSUANT TO
SECTION 12 OF THE ACT

The registrant has not sent an annual report or proxy material to its security
holders. The registrant will not be sending an annual report or proxy material
to its security holders subsequent to the filing of this form.
<PAGE>

                               INDEX TO EXHIBITS


Exhibit
Number     Description of Exhibit

  99.5     Annual Officer's Certificate
  99.6     Summary of Quarterly Reports to Investors

Note: On an annual basis, an Accountants' Report is prepared that relates to
compliance with the requirements of the Administration Agreement. Such report is
not being filed because the distribution of such report is restricted to the
parties to the Administration Agreement, the Senior Noteholders and the Senior
Note Owners. A copy of the report will be provided to the Securities and
Exchange Commission upon request, at which time the registrant will request
confidential treatment of the report. Senior Noteholders and Senior Note Owners
may request a copy of the report in writing directly from the indenture Trustee
or the Owner Trustee, as the case may be, at the related Corporate Trust Office.