The findings, from JD Power and Associates' annual Roadside Assistance Customer Satisfaction survey, revealed that drivers were particularly impressed by RAC staff.
Respondents singled out the performance of its call-centre workers as well as recovery-vehicle drivers and mechanics. However, the AA bettered the RAC on time taken to respond to calls.
The RAC scored 830 points out of 1000 and beat the AA by five points.
The RAC improved by 20 points on the previous year, whereas the AA improved by just 11.
Levels of customer satisfaction increased across the market for all aspects of roadside assistance.
Mondial, which provides roadside recovery for many car manufacturers, achieved the most significant improvement and was ranked third behind the AA.
However, Mondial, Green Flag and Mercedes-Benz all performed below the industry average of 816 points.
The survey was based on the responses of 24,000 car owners through a partnership with What Car? magazine. Respondents provided detailed evaluations of 16 aspects of roadside assistance.
Last year the RAC relaunched with a £10m campaign featuring the strapline 'Always there' to reposition it as a caring brand.
The RAC is currently searching for a direct marketing agency to handle its £10m business.
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