How far is Rapid City, SD from Milbank, SD?
The driving distance from Rapid City, SD to Milbank, SD is about 458.5 miles (737.9 km), with a travel time of about 07h 39m by car.
- The straight-line flight distance is about 333.5 miles (536.7 km).
- For a round trip, plan for roughly 15h 18m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 6:00 AM to 7:30 AM MDT.
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 07h 39m.
Starting early still helps, but most travelers will want a longer stop or an overnight stay on a route this long.
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 Brule County, South Dakota, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Sunny
Driving Route Map
The map below follows the saved road route between Rapid City and Milbank.
Turn-by-Turn Driving Directions
Step-by-step road directions between Rapid City and Milbank.
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1
Start on Mount Rushmore Road
1223 ft · 48 sec · Mount Rushmore Road
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2
Turn left onto Omaha Street
1094 ft · 38 sec · Omaha Street
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3
Turn right
1.2 mi · 2 min
-
4
Keep slight right to continue on I 90 East: Sioux Falls
1661 ft · 28 sec
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5
Continue straight
338.8 mi · 5 hr 20 min
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6
Take the exit slight right toward I 29: Fargo
1129 ft · 28 sec
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7
Merge slight left
66.5 mi · 1 hr 2 min
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8
Take the exit slight right toward North SD 15, SD 28: Toronto, Estelline
1344 ft · 33 sec
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9
Turn right onto SD Highway 28
3.9 mi · 6 min · SD Highway 28
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10
Turn left onto SD Highway 15
11.9 mi · 14 min · SD Highway 15
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11
Continue on 3rd Avenue South
1.1 mi · 2 min · 3rd Avenue South
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12
Continue on SD Highway 15
9.1 mi · 14 min · SD Highway 15
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13
At the end of the road, turn right onto US Highway 212
4.8 mi · 7 min · US Highway 212
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14
Turn left onto SD Highway 15
18.8 mi · 28 min · SD Highway 15
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15
Continue on South Dakota Street
1.6 km · 2 min · South Dakota Street
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16
Turn right onto West 4th Avenue
1333 ft · 19 sec · West 4th Avenue
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17
Arrive at your destination
0 m · 1 sec · East 4th Avenue
Car Route Details
A richer read on the saved driving route between Rapid City and Milbank.
Long-distance drive
This route is long enough that fuel, rest stops, weather, and timing matter more than any single maneuver.
I 90 East
Continue straight
339 mi · 05h 20m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
Better with a longer stop
This route is long enough that most travelers will be better off planning an overnight stay or a more deliberate stop window.
Sunny leaving Rapid City and Sunny near Milbank.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Rapid City to Milbank?
The road trip is about 458.5 miles (737.9 km) and usually takes 07h 39m in normal driving conditions.
Is this a same-day trip or an overnight route?
This route is long enough that most travelers will be better off planning an overnight stay or a more deliberate stop window.
What is the halfway point on this route?
Kimball is a useful midpoint, sitting about 228.9 miles from Rapid City and 229.6 miles from Milbank.
How much longer is the road route than the straight-line distance?
The direct path is about 333.5 miles (536.7 km), while the road route adds roughly 125 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 7:30 AM MDT. Starting early still helps, but most travelers will want a longer stop or an overnight stay on a route this long.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $61.01 one way or $122.03 round trip. Estimated CO2 is about 143.8 kg one way.
Do you cross a time zone on this route?
Yes. There is about a 1 hour time difference between Rapid City and Milbank, so arrival and return times should be read in local time.
What should you check before leaving?
Before you leave, expect Sunny around Rapid City and Sunny near Milbank.
Flight Path Map
This map shows the direct air route between Rapid City and Milbank. Straight-line distance: 333.49 mi (536.7 km).
#1 Rapid City
The second most populous city in South Dakota.
| Population | 77,503 |
| Coordinates | 44.0805400, -103.2310100 |
| Altitude | 988 |
| Country | United States |
#2 Milbank
City in and county seat of Grand County, South Dakota, United States
| Population | 3,066 |
| Coordinates | 45.2191300, -96.6356200 |
| Altitude | 351 |
| Country | United States |
End: Milbank (-96.63562, 45.21913)
Estimated Travel Time
Distance: 738 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 15h 16m |
| 40 mph (64.37 km/h) | 11h 27m |
| 50 mph (80.47 km/h) | 09h 10m |
| 60 mph (96.56 km/h) | 07h 38m |
| 70 mph (112.65 km/h) | 06h 33m |
| 80 mph (129 km/h) | 05h 43m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $61.01 | $122.03 |
| Mid-grade | $4.25 | $68.81 | $137.63 |
| Premium | $4.65 | $75.30 | $150.60 |
| Diesel | $5.30 | $85.82 | $171.64 |
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 South Dakota · Apr 16, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.