<?xml version="1.0" encoding="us-ascii"?>
<!-- DFIN ActiveDisclosure(SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date      : 2021-05-12T00:26:29.9667211+00:00 -->
<!-- Version            : 5.0.1.615 -->
<!-- Package ID         : 8661df03ffb44c3595cbae50aa399573 -->
<!-- Copyright (c) 2021 Donnelley Financial Solutions, Inc. All Rights Reserved. -->
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  <xsd:element id="vrm_PeriodOfLIBORMeasurement" name="PeriodOfLIBORMeasurement" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
  <xsd:element id="vrm_DebtInstrumentCovenantToMaintainMinimumPercentageOfOutstandingBorrowingsInCashAndCashEquivalents" name="DebtInstrumentCovenantToMaintainMinimumPercentageOfOutstandingBorrowingsInCashAndCashEquivalents" type="num:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
  <xsd:element id="vrm_DebtInstrumentCovenantPercentageOfDepositInBasisOfMonthlyCreditLineAvailability" name="DebtInstrumentCovenantPercentageOfDepositInBasisOfMonthlyCreditLineAvailability" type="num:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
  <xsd:element id="vrm_DebtInstrumentCovenantToMaintainMinimumTangibleAdjustedNetWorth" name="DebtInstrumentCovenantToMaintainMinimumTangibleAdjustedNetWorth" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit" />
  <xsd:element id="vrm_NumberOfLeaseAgreements" name="NumberOfLeaseAgreements" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" />
  <xsd:element id="vrm_RedeemableConvertiblePreferredStockAndStockholdersDeficitEquityLineItems" name="RedeemableConvertiblePreferredStockAndStockholdersDeficitEquityLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_RedeemableConvertiblePreferredStockAndStockholdersDeficitEquityTable" name="RedeemableConvertiblePreferredStockAndStockholdersDeficitEquityTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_SeriesHRedeemableConvertiblePreferredStockMember" name="SeriesHRedeemableConvertiblePreferredStockMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_SeriesBWarrantsMember" name="SeriesBWarrantsMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_SeriesFPreferredStockWarrantMember" name="SeriesFPreferredStockWarrantMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_ShareBasedCompensationArrangementByShareBasedPaymentAwardPercentageOfAnnualIncreaseInSharesAvailableForIssuanceAsAward" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardPercentageOfAnnualIncreaseInSharesAvailableForIssuanceAsAward" type="num:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
  <xsd:element id="vrm_TwoThousandTwentyTwoIncentiveAwardPlanMember" name="TwoThousandTwentyTwoIncentiveAwardPlanMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_SegmentAssets" name="SegmentAssets" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit" />
  <xsd:element id="vrm_ReconciliationOfRevenueFromSegmentsToConsolidatedAbstract" name="ReconciliationOfRevenueFromSegmentsToConsolidatedAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_PercentageOfOutstandingCapitalStock" name="PercentageOfOutstandingCapitalStock" type="num:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
  <xsd:element id="vrm_ManagementServicesAgreementMember" name="ManagementServicesAgreementMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_CattertonManagementLLCMember" name="CattertonManagementLLCMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_VendorAgreementMember" name="VendorAgreementMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_AutoNationIncMember" name="AutoNationIncMember" type="nonnum:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true" />
  <xsd:element id="vrm_TerminationPeriod" name="TerminationPeriod" type="xbrli:gYearMonthItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" />
</xsd:schema>
