A foldable wheelchair ramp is disclosed having a mountable base, a first ramp section and a second ramp section. In an extended configuration, the first and second ramp sections form a single, continuous ramp for facilitating wheelchair access to vehicles. For convenient storage, the first and second ramp sections fold with respect to each other and preferably retract into the vehicle floor such that, in the folded configuration, the top surface of the second ramp section lies substantially in the same plane as the vehicle floor. A linking assembly is provided to facilitate and control the folding of the ramp sections. For safety purposes, the ramp also includes a lid that covers the gaps between the ramp and the vehicle floor when the ramp is in an extended position.