In general, the answer is yes. Most drivers can drive most sizes of motorhome on a standard car driving licence, provided the weight of the motorhome isn't over 7500kg. However, a weight limit of 3500kg applies to drivers aged over 70, or a driver licensed since 1 January 1997, unless a medical test or additional test, respectively, is passed.
The vast majority of motorhomes do not exceed 3500kg in weight, but it is worth double-checking if you are looking at larger models such as 'American Style RVs'.
For full details, check out our technical advice page on licences for caravans and motorhomes.