How far is Palmyra, MO from Saint Joseph, MO?
The driving distance from Palmyra, MO to Saint Joseph, MO is about 191.9 miles (308.9 km), with a travel time of about 03h 06m by car.
- The straight-line flight distance is about 176.5 miles (284 km).
- For a round trip, plan for roughly 06h 12m 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 06m.
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 Linn County, Missouri
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 Palmyra and Saint Joseph.
Turn-by-Turn Driving Directions
Step-by-step road directions between Palmyra and Saint Joseph.
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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
156.3 mi · 3 hr 1 min · Chicago-Kansas City Expressway
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8
Continue straight
13.4 mi · 15 min
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9
Continue straight
13.1 mi · 16 min
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10
Take the exit slight right toward I 29 Business
708 ft · 18 sec
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11
Turn slight left onto South 10th Street
1.2 mi · 2 min · South 10th Street
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12
Turn right onto Frederick Avenue
116 m · 6 sec · Frederick Avenue
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13
Turn slight right onto Walter Welsh Avenue
42 m · 3 sec · Walter Welsh Avenue
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14
Arrive at your destination
0 m · 1 sec · Walter Welsh Avenue
Car Route Details
A richer read on the saved driving route between Palmyra and Saint Joseph.
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
156 mi · 03h 01m
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 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 Palmyra to Saint Joseph?
The road trip is about 191.9 miles (308.9 km) and usually takes 03h 06m 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?
Brookfield is a useful midpoint, sitting about 95.8 miles from Palmyra and 96.1 miles from Saint Joseph.
How much longer is the road route than the straight-line distance?
The direct path is about 176.5 miles (284 km), while the road route adds roughly 15.4 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 6:00 AM to 8:00 AM CDT. If you want a more comfortable same-day return, try to leave by 10:48 AM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $25.53 one way or $51.06 round trip. Estimated CO2 is about 60.2 kg one way.
What should you check before leaving?
Before you leave, expect Mostly Sunny then Slight Chance Showers And Thunderstorms around Palmyra and Slight Chance Rain Showers then Slight Chance Showers And Thunderstorms near Saint Joseph.
Stop Ideas Near Brookfield
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 Brookfield.
La Plata
Flight Path Map
This map shows the direct air route between Palmyra and Saint Joseph. Straight-line distance: 176.46 mi (283.99 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 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: 309 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 06h 23m |
| 40 mph (64.37 km/h) | 04h 47m |
| 50 mph (80.47 km/h) | 03h 50m |
| 60 mph (96.56 km/h) | 03h 11m |
| 70 mph (112.65 km/h) | 02h 44m |
| 80 mph (129 km/h) | 02h 23m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $25.53 | $51.06 |
| Mid-grade | $4.25 | $28.79 | $57.59 |
| Premium | $4.65 | $31.51 | $63.02 |
| Diesel | $5.30 | $35.91 | $71.82 |
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.