How far is Palmyra, MO from Lee's Summit, MO?
The driving distance from Palmyra, MO to Lee's Summit, MO is about 222.1 miles (357.4 km), with a travel time of about 03h 36m by car.
- The straight-line flight distance is about 164.5 miles (264.7 km).
- For a round trip, plan for roughly 07h 13m 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 03h 36m.
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.
Mostly Sunny then Slight Chance Showers And Thunderstorms
Partly Sunny then Slight Chance Showers And Thunderstorms
Driving Route Map
The map below follows the saved road route between Palmyra and Lee's Summit.
Turn-by-Turn Driving Directions
Step-by-step road directions between Palmyra and Lee's Summit.
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1
Start on South Main Street
9 m · 3 sec · South Main Street
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2
Turn right onto East Ross Street
1994 ft · 1 min · East Ross Street
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3
Merge slight left onto Avenue of the Saints
3.4 mi · 4 min · Avenue of the Saints
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4
Turn straight onto US 24 West: Monroe City
3.3 mi · 4 min
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5
Take the ramp right toward US 24 West, US 36 West: Monroe City
1791 ft · 24 sec
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6
Merge slight left onto V.F.W. Memorial Highway
2663 ft · 35 sec · V.F.W. Memorial Highway
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7
Continue on Chicago-Kansas City Expressway
148.8 mi · 2 hr 52 min · Chicago-Kansas City Expressway
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8
Turn left onto I 35 South, MO 110 West: Kansas City
41 mi · 45 min
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9
Take the exit slight right toward I 435 South: Saint Louis
1.1 km · 1 min
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10
Merge slight left
9.5 mi · 11 min
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11
Keep slight left to continue on Lamar Hunt Memorial Highway
3.5 mi · 4 min · Lamar Hunt Memorial Highway
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12
Take the exit slight left toward MO 350 East: 63rd Street, Raytown, Lee's Summit
1288 ft · 22 sec
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13
Merge slight left onto Blue Parkway
8.2 mi · 13 min · Blue Parkway
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14
Continue straight
1.4 mi · 2 min
-
15
Take the exit slight right toward Southwest 3rd Street
725 ft · 18 sec
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16
Turn left onto Southwest 3rd Street
1.1 km · 2 min · Southwest 3rd Street
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17
Arrive at your destination
0 m · 1 sec · Southwest 3rd Street
Car Route Details
A richer read on the saved driving route between Palmyra and Lee's Summit.
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
Continue on 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.
Mostly Sunny then Slight Chance Showers And Thunderstorms leaving Palmyra and Partly Sunny then Slight Chance Showers And Thunderstorms near Lee's Summit.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Palmyra to Lee's Summit?
The road trip is about 222.1 miles (357.4 km) and usually takes 03h 36m 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 110.9 miles from Palmyra and 111.2 miles from Lee's Summit.
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 57.6 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 6:00 AM to 8:00 AM CDT. If you want a more comfortable same-day return, try to leave by 9:46 AM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $29.56 one way or $59.13 round trip. Estimated CO2 is about 69.7 kg one way.
What should you check before leaving?
Before you leave, expect Mostly Sunny then Slight Chance Showers And Thunderstorms around Palmyra and Partly Sunny then Slight Chance Showers And Thunderstorms near Lee's Summit.
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 Palmyra and Lee's Summit. Straight-line distance: 164.48 mi (264.7 km).
#1 Palmyra
City in Marion County, Missouri, United States of America
| Population | 3,578 |
| Coordinates | 39.7942100, -91.5232100 |
| Altitude | 195 |
| Country | United States |
#2 Lee's Summit
The most populous city in Jackson County, Missouri.
| Population | 101,467 |
| Coordinates | 38.9108400, -94.3821700 |
| Altitude | 316 |
| Country | United States |
End: Southwest 3rd Street (-94.382168, 38.910873)
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 33m |
| 50 mph (80.47 km/h) | 04h 26m |
| 60 mph (96.56 km/h) | 03h 42m |
| 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 | $29.56 | $59.13 |
| Mid-grade | $4.25 | $33.34 | $66.69 |
| Premium | $4.65 | $36.49 | $72.97 |
| Diesel | $5.30 | $41.58 | $83.17 |
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.