Travellers are often turned away from GPs surgeries without being given a reason, according to MSPs.
Holyrood's Equal Opportunities Committee has highlighted gaps in access in health and social care services provided to travellers.
A committee report has found that travellers are subject to racial discrimination that would not be tolerated if it was directed towards any other ethnic minority.
The committee quoted a survey that suggested over two-thirds of people would be unhappy if a relative formed a relationship with a traveller, compared with under ten percent who feel the same about a relationship with a black or Asian person.
Nearly a quarter claimed that travellers are unsuitable to be primary school teachers.
The committee said that the terms "gypo", "tink" and "tinker" should not be used because they are derogatory and racist.
Reports that individuals have been turned away from what is supposed to be a free and universal healthcare system is one of the most alarming pieces of evidence the committee heard.
"GP surgeries are able to refuse people as patients without giving a reason," the report stated.
"This often happens to gypsy travellers. Sometimes, reasons are given, such as the applicant living on a site that straddles two practice catchment areas or not being able to prove when registering that they will remain in the area for long enough.
"Many gypsy traveller families regularly travel 200-300 miles to see a GP or dentist whom they trust and know will see them.
"We heard of cases where GP surgeries had refused to register gypsy travellers. Some surgeries may refuse a patient on the grounds that they have no fixed address, they do not have photographic ID, they cannot guarantee that they will stay in the area for three months or more, or the address of their permanent site falls on the boundary between two local authorities.
"We were also told of surgeries that would refuse to register gypsy traveller patients after having difficulties with previous gypsy traveller patients missing appointments."
Committee convener Mary Fee MSP said: "If we were to substitute any other ethnic minority instead of gypsy travellers in our report there would be uproar at the obvious racial discrimination.
"Yet, our report shows that despite initiatives in the last 15 years by successive governments, very little real change has actually been achieved to improve the lives of gypsy travellers.
"Access to health and social care alongside other public services must be universal.
"We look to the Scottish Government now to take the lead in making real, significant changes to the lives of gypsy travellers, with speed and commitment."
The Scottish Government said NHS Boards were responsible for providing primary medical services and for ensuring that the services recognise cultural diversity and respond to the needs of all ethnic groups and communities.
A spokesman said: "There should be no barriers to Travellers accessing or receiving health services and the GP registration regulations apply equally to members of the travelling and settled populations."
In Scotland a patient does not need to be resident in a practice area to be accepted for treatment.