How far is Lee's Summit, MO from Palmyra, MO?
The driving distance from Lee's Summit, MO to Palmyra, MO is about 221.8 miles (356.9 km), with a travel time of about 04h 20m by car.
- The straight-line flight distance is about 164.5 miles (264.7 km).
- For a round trip, plan for roughly 08h 40m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 6:00 AM to 8:00 AM CDT.
Reverse, save, or send this route
This drive is better planned with a longer stop or an overnight stay. Copy the route link, send it to another device, or print a clean version before you head out.
This drive is better planned with a longer stop or an overnight stay.
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 04h 20m.
An early departure helps you fit a real stop into the day without turning the return into a late-night drive.
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.
City in Livingston County, Missouri, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Partly Sunny then Slight Chance Showers And Thunderstorms
Chance Showers And Thunderstorms
Driving Route Map
The map below follows the saved road route between Lee's Summit and Palmyra.
Turn-by-Turn Driving Directions
Step-by-step road directions between Lee's Summit and Palmyra.
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1
Start on Southwest 3rd Street
3056 ft · 1 min · Southwest 3rd Street
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2
Take the ramp slight right toward US 50 West: Raytown
1053 ft · 26 sec
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3
Merge slight left
1.7 mi · 2 min
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4
Continue on Blue Parkway
7.7 mi · 12 min · Blue Parkway
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5
Take the exit slight right toward I 435 North
2282 ft · 39 sec
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6
Merge slight left
11.4 mi · 13 min
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7
Continue on I435 N
1.3 mi · 1 min · I435 N
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8
Continue straight
724 ft · 10 sec
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9
Take the exit slight right toward I 35: Kansas City, Des Moines
599 ft · 15 sec
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10
Keep slight right to continue on I 35 North, MO 110 East: Des Moines
2281 ft · 56 sec
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11
Merge slight left onto Chicago-Kansas City Expressway
6.3 mi · 7 min · Chicago-Kansas City Expressway
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12
Keep slight left to continue on Chicago-Kansas City Expressway
34.5 mi · 37 min · Chicago-Kansas City Expressway
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13
Take the exit slight right toward US 36, MO 110 East, I 35 Business: Cameron, Hamilton
1213 ft · 33 sec
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14
Turn right onto Chicago-Kansas City Expressway
148.6 mi · 2 hr 52 min · Chicago-Kansas City Expressway
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15
Continue on V.F.W. Memorial Highway
2621 ft · 35 sec · V.F.W. Memorial Highway
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16
Take the exit slight right toward US 24 East: Palmyra
1813 ft · 50 sec
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17
Turn left
5.1 mi · 6 min
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18
Take the exit slight right
2.2 mi · 4 min
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19
Arrive at your destination
0 m · 1 sec · South Main Street
Car Route Details
A richer read on the saved driving route between Lee's Summit and Palmyra.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
Chicago-Kansas City Expressway
Turn right onto Chicago-Kansas City Expressway
149 mi · 02h 52m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A longer out-and-back drive
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
Partly Sunny then Slight Chance Showers And Thunderstorms leaving Lee's Summit and Chance Showers And Thunderstorms near Palmyra.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Lee's Summit to Palmyra?
The road trip is about 221.8 miles (356.9 km) and usually takes 04h 20m in normal driving conditions.
Is this a same-day trip or an overnight route?
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
What is the halfway point on this route?
Wheeling is a useful midpoint, sitting about 110.8 miles from Lee's Summit and 111 miles from Palmyra.
How much longer is the road route than the straight-line distance?
The direct path is about 164.5 miles (264.7 km), while the road route adds roughly 57.3 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 6:00 AM to 8:00 AM CDT. If you want a more comfortable same-day return, try to leave by 8:20 AM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $29.53 one way or $59.05 round trip. Estimated CO2 is about 69.6 kg one way.
What should you check before leaving?
Before you leave, expect Partly Sunny then Slight Chance Showers And Thunderstorms around Lee's Summit and Chance Showers And Thunderstorms near Palmyra.
Stop Ideas Near Wheeling
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 Wheeling.
La Plata
Warrensburg
Independence
Flight Path Map
This map shows the direct air route between Lee's Summit and Palmyra. Straight-line distance: 164.48 mi (264.7 km).
#1 Lee's Summit
The most populous city in Jackson County, Missouri.
| Population | 101,467 |
| Coordinates | 38.9108400, -94.3821700 |
| Altitude | 316 |
| Country | United States |
#2 Palmyra
City in Marion County, Missouri, United States of America
| Population | 3,578 |
| Coordinates | 39.7942100, -91.5232100 |
| Altitude | 195 |
| Country | United States |
End: Palmyra (-91.52321, 39.79421)
Estimated Travel Time
Distance: 357 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 07h 23m |
| 40 mph (64.37 km/h) | 05h 32m |
| 50 mph (80.47 km/h) | 04h 26m |
| 60 mph (96.56 km/h) | 03h 41m |
| 70 mph (112.65 km/h) | 03h 10m |
| 80 mph (129 km/h) | 02h 46m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $29.53 | $59.05 |
| Mid-grade | $4.25 | $33.30 | $66.60 |
| Premium | $4.65 | $36.44 | $72.88 |
| Diesel | $5.30 | $41.53 | $83.06 |
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 Missouri · Apr 30, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.