The usual recommendation would be Blender. It needs some time to get used to but offers a streamlined workflow once understood and is very feature rich.
A little off topic.
When planning to (also) manufacture the stuff then a CAD application that allows precise, parametric modelling is helpful. Instead of working with triangulated meshes that are fast to render but just an approximation, these can describe the precise geometry.
Against common belief Blender can also be used for precision modelling. But particularly when many fundamental parameters still have to be tweaked later on, a parametric modeller might be faster.
E.g. FreeCAD is a UI based Open Source CAD program.
And Fusion 360 (also has CAM) and SolidEdge (can do both parametric and direct modelling) are free for personal use.
What I currently use is “code CAD”, this allows to design stuff programmatically. Really good for highly parametric stuff! The most prominent ones would be OpenSCAD (kernel: CSG-based, language: custom functional), CadQuery (kernel: BREP-based (OpenCascade), language: Python) and Curv3d (kernel: SDF-based, language: custom functional). *
Am currently iterating on a (non electronic) musical instrument with CadQuery: http://polymoe.org
The renderings are done in Blender. Just visited a CNC course in the local makerspace, can use the CNC now by myself - yay! Prototypes incoming soon 
One could certainly also use CadQuery&Co to create models for VR. But I guess learning Blender would be much faster workflow wise. And also more flexible, particularly for organic stuff (well, SDF based programs like Curv3D would also work for organics - if one is more into math than pushing-and-pulling-until-it-looks-good
)
*: CSG= constructive solid geometry, building stuff by boolean operations on primitive geometric bodies. Most old CAD systems from early 20th century used this
BREP = border representation, functional description of the 3d surface of an object. This is what most current CAD systems use (most kernels are hybrid that can also map CSG operations on BREP)
SDF: signed distance field, places inside the body have positive values, on the surface it’s zero and outside is negative; good for organic shapes, good for hierarchical composition, can do many things that are very difficult with BREP (and vice versa for some others). Is starting to get traction now - but the BREP legacy is large and BREP and SDF don’t mix well…