How far is Milford, KS from Lenexa, KS?
The driving distance from Milford, KS to Lenexa, KS is about 138.4 miles (222.8 km), with a travel time of about 02h 12m by car.
- The straight-line flight distance is about 117.8 miles (189.6 km).
- For a round trip, plan for roughly 04h 24m 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 12m.
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 Shawnee County, Kansas, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Mostly Clear
Driving Route Map
The map below follows the saved road route between Milford and Lenexa.
Turn-by-Turn Driving Directions
Step-by-step road directions between Milford and Lenexa.
-
1
Start on Whiting Street
11 m · 3 sec · Whiting Street
-
2
Turn right
115 m · 21 sec
-
3
At the end of the road, turn left
43 m · 8 sec
-
4
Turn right
117 m · 31 sec
-
5
Turn right onto Houston Road
1.3 km · 3 min · Houston Road
-
6
Turn right
7.3 mi · 9 min
-
7
Turn left onto North Jackson Street
3.2 mi · 5 min · North Jackson Street
-
8
Turn left onto West 6th Street
2 mi · 4 min · West 6th Street
-
9
Turn right onto J Hill Road
764 ft · 22 sec · J Hill Road
-
10
Take the ramp left toward I-70 East, US 40 East, KS 18 East: Topeka
1090 ft · 27 sec
-
11
Merge slight left onto Truman/Eisenhower Presidential Highway
50.5 mi · 51 min · Truman/Eisenhower Presidential Highway
-
12
Continue on Dwight D. Eisenhower Highway
1.1 mi · 1 min · Dwight D. Eisenhower Highway
-
13
Continue on Truman/Eisenhower Presidential Highway
14.9 mi · 17 min · Truman/Eisenhower Presidential Highway
-
14
Keep slight left to continue on Truman/Eisenhower Presidential Highway
1.2 km · 52 sec · Truman/Eisenhower Presidential Highway
-
15
Continue on Kansas Turnpike
14 mi · 14 min · Kansas Turnpike
-
16
Take the exit slight right toward KS 10: Lecompton, Lawrence
2307 ft · 1 min
-
17
Turn right onto South Lawrence Trafficway
35.4 mi · 39 min · South Lawrence Trafficway
-
18
Take the exit slight right toward I 35, I 435 North: Wichita, Des Moines, Renner Boulevard
119 m · 6 sec
-
19
Keep slight left to continue on I 35, I 435 North: Wichita, Des Moines
3070 ft · 48 sec
-
20
Keep slight right to continue on I 35: Wichita, Des Moines
1.4 mi · 2 min
-
21
Keep slight left to continue on I 35 North: Des Moines
3082 ft · 1 min
-
22
Merge slight left
1.4 km · 1 min
-
23
Take the exit slight right toward 95th Street
805 ft · 20 sec
-
24
Keep slight right to continue on 95th Street, Pittsburgh State University, Brown Mackie College
90 m · 7 sec
-
25
Turn straight onto West 95th Street
58 m · 4 sec · West 95th Street
-
26
Turn slight right onto Lenexa Drive
1165 ft · 57 sec · Lenexa Drive
-
27
Turn left onto Rosehill Road
152 m · 19 sec · Rosehill Road
-
28
Turn right
22 m · 11 sec
-
29
Turn left
78 m · 19 sec
-
30
Arrive at your destination
0 m · 1 sec
Car Route Details
A richer read on the saved driving route between Milford and Lenexa.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
Truman/Eisenhower Presidential Highway
Merge slight left onto Truman/Eisenhower Presidential Highway
50.5 mi · 00h 51m
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 Cloudy leaving Milford and Mostly Clear near Lenexa.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Milford to Lenexa?
The road trip is about 138.4 miles (222.8 km) and usually takes 02h 12m 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?
Silver Lake is a useful midpoint, sitting about 67.4 miles from Milford and 71.1 miles from Lenexa.
How much longer is the road route than the straight-line distance?
The direct path is about 117.8 miles (189.6 km), while the road route adds roughly 20.6 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 2:06 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $19.43 one way or $38.86 round trip. Estimated CO2 is about 43.4 kg one way.
What should you check before leaving?
Before you leave, expect Mostly Cloudy around Milford and Mostly Clear near Lenexa.
Stop Ideas Near Silver Lake
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 Silver Lake.
Topeka
Lawrence
Union Station
Flight Path Map
This map shows the direct air route between Milford and Lenexa. Straight-line distance: 117.83 mi (189.63 km).
#1 Milford
City in Geary County, Kansas, United States of America
| Population | 518 |
| Coordinates | 39.1683300, -96.9125100 |
| Altitude | 353 |
| Country | United States |
#2 Lenexa
The most populous city in Johnson County, Kansas.
| Population | 56,156 |
| Coordinates | 38.9536200, -94.7335700 |
| Altitude | 314 |
| Country | United States |
End: (-94.73357, 38.953456)
Estimated Travel Time
Distance: 223 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 04h 36m |
| 40 mph (64.37 km/h) | 03h 27m |
| 50 mph (80.47 km/h) | 02h 46m |
| 60 mph (96.56 km/h) | 02h 18m |
| 70 mph (112.65 km/h) | 01h 58m |
| 80 mph (129 km/h) | 01h 43m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.98 | $19.43 | $38.86 |
| Mid-grade | $4.33 | $21.13 | $42.26 |
| Premium | $4.70 | $22.92 | $45.84 |
| Diesel | $6.08 | $29.67 | $59.34 |
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 Kansas · Oct 19, 2026