Abstract: A modular vehicle rack system having a rack holder and rack constructed and arranged to allow easy interchange of racks on the rack holder while allowing a rack mounted on the rack holder to be swung away from the rear of a vehicle to provide substantially unobstructed access to the vehicle rear. The holder has an upwardly extending pin located away from a tongue of the holder that telescopically receives a complementary sleeve of the rack enabling a rack to be quickly and easily mounted on the holder in a manner that permits it to be swung away from the vehicle rear to provide access. The rack preferably includes an integral handle that permits it to be easily grasped and maneuvered to enable racks to be quickly and easily mounted on or removed from a holder. The rack construction includes a swing arm support rail forming part of a cargo or equipment truss that can be flexibly arranged to carry many types of equipment and cargo making the rack design extremely flexible and versatile.