How far is Lincoln, MO from Saint Joseph, MO?
The driving distance from Lincoln, MO to Saint Joseph, MO is about 163.6 miles (263.3 km), with a travel time of about 02h 36m by car.
- The straight-line flight distance is about 125 miles (201.2 km).
- For a round trip, plan for roughly 05h 13m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 8:00 AM to 10:00 AM CDT.
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 36m.
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.
City in Cass County, Missouri, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Mostly Sunny then Slight Chance Showers And Thunderstorms
Slight Chance Rain Showers then Slight Chance Showers And Thunderstorms
Driving Route Map
The map below follows the saved road route between Lincoln and Saint Joseph.
Turn-by-Turn Driving Directions
Step-by-step road directions between Lincoln and Saint Joseph.
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1
Start on Ohio Street
9 m · 7 sec · Ohio Street
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2
Turn left onto East Main Street
17.2 mi · 30 min · East Main Street
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3
At the end of the road, turn right onto East Division Road
6.9 mi · 9 min · East Division Road
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4
Continue on East Ohio Street
3194 ft · 1 min · East Ohio Street
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5
Continue straight
38.9 mi · 45 min
-
6
Take the exit slight right toward I 49 North, US 71 North, MO 7 North: Kansas City
37.9 mi · 46 min
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7
Take the exit slight right toward 11th Street, Downtown
1637 ft · 26 sec
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8
Turn straight onto East 11th Street
130 m · 16 sec · East 11th Street
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9
Turn right onto Charlotte Street
888 ft · 23 sec · Charlotte Street
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10
Turn left onto East 9th Street
977 ft · 23 sec · East 9th Street
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11
Turn right onto Locust Street
691 ft · 18 sec · Locust Street
-
12
Continue straight
3 mi · 6 min
-
13
Keep slight left to continue on MO 9 North: Riverside, Parkville
1.4 km · 2 min
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14
Take the exit slight right toward US 169 North: Smithville
1540 ft · 24 sec
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15
Continue straight
1.2 mi · 2 min
-
16
Take the exit slight left toward I 29 North, US 71 North: K.C.I. Airport, Saint Joseph
2441 ft · 60 sec
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17
Merge slight right
11.5 mi · 13 min
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18
Merge slight left
2.7 mi · 3 min
-
19
Keep slight left to continue on I 29 North, US 71 North: Saint Joseph
26 mi · 28 min
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20
Take the exit slight right toward I 229 North: Downtown Saint Joseph
2673 ft · 54 sec
-
21
Continue straight
5.7 mi · 7 min
-
22
Take the exit slight right toward Central Business District
1382 ft · 34 sec
-
23
Continue on Edmond Street
2408 ft · 58 sec · Edmond Street
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24
Turn left onto South 10th Street
841 ft · 21 sec · South 10th Street
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25
Turn right onto Frederick Avenue
116 m · 6 sec · Frederick Avenue
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26
Turn slight right onto Walter Welsh Avenue
42 m · 3 sec · Walter Welsh Avenue
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27
Arrive at your destination
0 m · 1 sec · Walter Welsh Avenue
Car Route Details
A richer read on the saved driving route between Lincoln and Saint Joseph.
Interchange-aware route
The drive includes several ramps, exits, or merges, so checking the next few maneuvers before busy interchanges is useful.
East Ohio Street
Continue straight
38.9 mi · 00h 45m
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.
Mostly Sunny then Slight Chance Showers And Thunderstorms leaving Lincoln and Slight Chance Rain Showers then Slight Chance Showers And Thunderstorms near Saint Joseph.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Lincoln to Saint Joseph?
The road trip is about 163.6 miles (263.3 km) and usually takes 02h 36m 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?
Raymore is a useful midpoint, sitting about 77.9 miles from Lincoln and 85.7 miles from Saint Joseph.
How much longer is the road route than the straight-line distance?
The direct path is about 125 miles (201.2 km), while the road route adds roughly 38.6 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 CDT. If you want a more comfortable same-day return, try to leave by 1:16 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $21.76 one way or $43.52 round trip. Estimated CO2 is about 51.3 kg one way.
What should you check before leaving?
Before you leave, expect Mostly Sunny then Slight Chance Showers And Thunderstorms around Lincoln and Slight Chance Rain Showers then Slight Chance Showers And Thunderstorms near Saint Joseph.
Stop Ideas Near Raymore
Useful break, food, and waypoint ideas within about 15 miles of the route midpoint.
Leawood Community Center
City of Grandview
Grandview DMV
Transit and Meeting Points
Useful pickup, handoff, or rendezvous points close to Raymore.
Lee's Summit
Independence
Union Station
Warrensburg
Flight Path Map
This map shows the direct air route between Lincoln and Saint Joseph. Straight-line distance: 125.05 mi (201.25 km).
#1 Lincoln
City in Benton County, Missouri, United States
| Population | 1,197 |
| Coordinates | 38.3908600, -93.3346500 |
| Altitude | 293 |
| Country | United States |
#2 Saint Joseph
The most populous city in Buchanan County, Missouri.
| Population | 74,074 |
| Coordinates | 39.7686100, -94.8466300 |
| Altitude | 270 |
| Country | United States |
End: Walter Welsh Avenue (-94.846632, 39.768853)
Estimated Travel Time
Distance: 263 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 05h 27m |
| 40 mph (64.37 km/h) | 04h 05m |
| 50 mph (80.47 km/h) | 03h 16m |
| 60 mph (96.56 km/h) | 02h 43m |
| 70 mph (112.65 km/h) | 02h 20m |
| 80 mph (129 km/h) | 02h 02m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $21.76 | $43.52 |
| Mid-grade | $4.25 | $24.54 | $49.08 |
| Premium | $4.65 | $26.85 | $53.71 |
| Diesel | $5.30 | $30.60 | $61.21 |
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.