Minimum ages for car rental are set by the car rental companies, not by law (says someone who rented a car @ age 24 in Atlanta for a friend's wedding, though he did get charged extra for it). And generally they just charge you extra, they don't keep you from renting a car (because, for one, people under 25 do occasionally go on business trips).
While you may have done so, generally speaking, its illegal...as in, against the law in most states. There are exceptions. Avis has an agreement with the military, for instance, that lets servicemembers 18+ to rent with them.
Under the age of 25 and want to Rent a Car
Policies vary from state-to-state, as some states don't allow you to rent cars at all while other invoke additional fees or limitations. It is suggested that you read every state owned policy to make sure it is fully understood what fees and liabilities will be applied.
Texas is one that has an age prohibition.
The thing is, there are enough states with this prohibition that it is economically feasible for the rental companies to just have a general minimum age rental policy. Again, though, some states have differing laws- NY and Michigan require car rental companies to allow rentals to drivers as young as 18.
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