How far is Allentown, PA from Milroy, PA?
The driving distance from Allentown, PA to Milroy, PA is about 141.7 miles (228.1 km), with a travel time of about 02h 56m by car.
- The straight-line flight distance is about 110.3 miles (177.5 km).
- For a round trip, plan for roughly 05h 52m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 8:00 AM to 10:00 AM EDT.
Reverse, save, or send this route
This route works well as a day trip with time at the destination. Copy the route link, send it to another device, or print a clean version before you head out.
This route works well as a day trip with time at the destination.
Flight Distance
Driving Distance
Gas Cost Calculator
Leave and Arrive Planner
Pick a departure time to see your estimated arrival and same-day return window.
Drive time stays fixed at 02h 56m.
A morning start gives you useful time at the destination and keeps the return out of the late evening.
You are leaving earlier than the recommended window, which gives you extra margin for breaks and traffic.
Halfway Point
A useful midpoint for breaks, coffee, or meeting in the middle.
Census designated place
Route Weather Snapshot
Check the forecast at both ends before you head out.
Driving Route Map
The map below follows the saved road route between Allentown and Milroy.
Turn-by-Turn Driving Directions
Step-by-step road directions between Allentown and Milroy.
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1
Start on Tilghman Street
5 mi · 8 min · Tilghman Street
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2
Take the ramp slight left toward US 22 West: Harrisburg
698 ft · 18 sec
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3
Merge slight left onto Lehigh Valley Thruway
1.1 km · 54 sec · Lehigh Valley Thruway
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4
Merge slight left onto William Penn Highway
43.1 mi · 52 min · William Penn Highway
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5
Continue on 78th Division Highway
7.6 mi · 9 min · 78th Division Highway
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6
Keep slight left to continue on I 81 South: Harrisburg
1.1 km · 49 sec
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7
Merge slight left
20.8 mi · 25 min
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8
Take the exit slight right toward US 22 East, PA 230 East, US 22 West, US 322 West: Harrisburg, Lewistown, State College
1437 ft · 27 sec
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9
Keep slight right to continue on US 22 West, US 322 West: Lewistown, State College
51.8 mi · 1 hr 3 min
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10
Keep slight left to continue on US 22 West, US 322 West: Mount Union, State College
10.1 mi · 13 min
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11
Take the exit slight right toward Milroy
1422 ft · 37 sec
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12
Turn right onto West Colonial Drive
1492 ft · 37 sec · West Colonial Drive
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13
Turn left onto Old US Route 322
1045 ft · 21 sec · Old US Route 322
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14
Keep slight right to continue on Hill Street
1 km · 2 min · Hill Street
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15
Continue on Main Street
678 ft · 19 sec · Main Street
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16
Arrive at your destination
0 m · 1 sec · North Main Street
Car Route Details
A richer read on the saved driving route between Allentown and Milroy.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
US 22 West
Keep slight right to continue on US 22 West, US 322 West: Lewistown, State College
51.8 mi · 01h 04m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A comfortable day-trip route
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
Sunny leaving Allentown and Sunny near Milroy.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Allentown to Milroy?
The road trip is about 141.7 miles (228.1 km) and usually takes 02h 56m in normal driving conditions.
Is this a same-day trip or an overnight route?
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
What is the halfway point on this route?
Skyline View is a useful midpoint, sitting about 70.8 miles from Allentown and 71 miles from Milroy.
How much longer is the road route than the straight-line distance?
The direct path is about 110.3 miles (177.5 km), while the road route adds roughly 31.4 extra miles because roads do not follow the straight air line.
When is the best time to leave for this route?
A good departure window is usually 8:00 AM to 10:00 AM EDT. If you want a more comfortable same-day return, try to leave by 12:38 PM EDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $20.43 one way or $40.86 round trip. Estimated CO2 is about 44.4 kg one way.
What should you check before leaving?
Before you leave, expect Sunny around Allentown and Sunny near Milroy.
Stop Ideas Near Skyline View
Useful break, food, and waypoint ideas within about 15 miles of the route midpoint.
Transit and Meeting Points
Useful pickup, handoff, or rendezvous points close to Skyline View.
Harrisburg Transportation Center
Middletown
Elizabethtown station
Mount Joy
Flight Path Map
This map shows the direct air route between Allentown and Milroy. Straight-line distance: 110.32 mi (177.55 km).
#1 Allentown
The third most populous city in Pennsylvania.
| Population | 121,470 |
| Coordinates | 40.6084300, -75.4901800 |
| Altitude | 103 |
| Country | United States |
#2 Milroy
Small city in Redwood County, Minnesota
| Population | 1,498 |
| Coordinates | 40.7139600, -77.5905500 |
| Altitude | 237 |
| Country | United States |
End: Milroy (-77.59055, 40.71396)
Estimated Travel Time
Distance: 228 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 04h 43m |
| 40 mph (64.37 km/h) | 03h 32m |
| 50 mph (80.47 km/h) | 02h 50m |
| 60 mph (96.56 km/h) | 02h 21m |
| 70 mph (112.65 km/h) | 02h 01m |
| 80 mph (129 km/h) | 01h 46m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $4.09 | $20.43 | $40.86 |
| Mid-grade | $4.60 | $23.00 | $45.99 |
| Premium | $4.95 | $24.77 | $49.54 |
| Diesel | $5.98 | $29.90 | $59.80 |
Assumes 8.3 L/100 km (about 28.3 MPG). CO2 is an estimate and varies by vehicle, fuel blend, traffic, and terrain.
Prices in Pennsylvania · Apr 23, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.