South Dakota has a ton of cool and unique things to see. From monuments to the outdoor plains, visitors will enjoy seeing the landscapes of this beautiful state. This three day South Dakota itinerary covers the best things to see during a road trip from Denver to South Dakota.
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Table of Contents
History of South Dakota
South Dakota has had people living in the area for thousands of years. The first people were hunter and gatherers who later transitioned to nomadic people. In the 1500s Native American tribes such as the Arikara settled in the area until the Europeans arrived in 1743.
In 1903, the land became part of the United States thanks to the Louisiana Purchase. Shortly after that, Lewis and Clark explored the area and a trading post was set up. Throughout the 1800s, more people began to settle in the area.
1874 brought about the gold rush in the Black Hills which brought a rush of people to the Dakota Territory. During that time, clashes with the Native Americans escalated until many of them were killed or driven from their land.
Throughout the years, South Dakota has built up the area and preserved some of the lands. Each year, over 12 million people visit South Dakota.
How to Get to South Dakota
South Dakota is not a state that sees a ton of visitors a year. It has two major airports: Rapid City Regional Airport and Sioux Falls Regional Airport. Both airports can be a bit pricey to fly into and do not offer a ton of flight options.
I recommend taking a road trip from Denver to get to South Dakota. Although the drive is long, about 6 hours, there are some super awesome sites to stop at along the way that helps break up the journey. It is also WAY cheaper to fly into Denver as there are always a ton of flight deals to Denver. This South Dakota itinerary is the perfect way to see the sites of this gorgeous state.
Best Time to Visit
South Dakota winters can be cold with a lot of snow. Summers can be hot and humid reaching to about 90 degrees. I recommend visiting in the late spring/early summer or in the fall for the best weather. Opt to pack layers as the weather can change quickly.
Where to Stay in South Dakota
TripAdvisor is a great place to start your hotel search. Search for the best South Dakota and Rapid City hotels here!
Rapid City is not a huge place, so pretty much anywhere you stay in the city is fine, especially if you are planning on taking day trips from Rapid City. We opted to stay at the Hampton Inn Rapid City (1720 Rapp Street). This hotel cost about $140 including taxes and fees.
Shaka Guide
Shaka Guide is a GPS self-guided audio tour that you can download to your phone. Currently, they have one for several of the National Parks. They provide great background information about the area. The best part is you do not need the internet to use them.
Three Day South Dakota Itinerary
Day 0: Denver, Colorado to Rapid City, South Dakota
Today, fly into Rapid City if you are pressed on time. If not, opt to fly into Denver to take a road trip to South Dakota. If you drive from Denver, opt to follow this South Dakota itinerary.
Scotts Bluff National Monument
Cost: Free
Hours: 9am to 5:30pm
For your first stop on this South Dakota itinerary, head to Scotts Bluff National Monument. It will take about 3 hours to drive from Denver to Scotts Bluff National Monument. Scotts Bluff was a major stop on the Oregon Trail located in western Nebraska. Over 250,000 immigrants passed through this area during the mid-1800s. In total, the park contains 3,000 acres of land.
Present-day, you can stop at the Visitor’s Center to learn about the history of the area. Then, there are 4-miles of trails you can hike. Visitors can also opt to drive the 1.6-mile Summit Road that offers views of the area. In the distance, you can see Chimney Rock, another important Oregon Trail landmark. If you choose, you can drive another 20 minutes east to Chimney Rock or you can continue onward on this Denver to South Dakota road trip.
Agate Fossil Beds National Monument
Cost: Free
Hours: 9am-5pm
Next, head to the Agate Fossil Beds National Monument. It will take about an hour to drive here from Scotts Bluff. The Agate Fossil Beds are also located in western Nebraska. This site preserves a grassy plains area where a ton of fossils were found.
Inside the visitor’s center, you can view fossils found in the area and learn about the area. There are also a couple of trails you can hike to view some fossil discoveries and excavation areas. In the summertime, you can also visit the tipis of the Lakota tribe. After visiting the Agate Fossil Beds, drive three more hours to get to Rapid City, South Dakota.
Day 1: Badlands, Missiles, and More
The first day of your three day South Dakota itinerary should be spent at Badlands National Park. Badlands National Park was established in 1929 as a National Monument and then became a National Park in 1978.
To get from Rapid City to Badlands National Park, head east on the I-90. It will take you about an hour to arrive at the park entrance.
Minuteman Missile NHS
Cost: Free
Hours: Wed-Sun: 8am-4pm
If interested in the history of the US Arms Race and the Cold War, opt to stop at Minuteman Missile National Historic Site on the way into the park as part of your South Dakota itinerary. You can reserve a tour here or opt to visit the Visitor’s Center and museum. It is open Wednesday to Sunday from 8am to 4pm (make sure to check the website in case times change).
Badlands National Park
Cost: $30/car or free with the America the Beautiful Pass
Hours: 24 hours
Once at Badlands National Park, I recommend driving in through the Northeast Entrance. This is closest to the visitor’s center and the main hikes you will want to take during your visit. First, head out on the Notch Trail. This is a moderate trail that leads through a canyon and along a ridge with a series of drop-offs.
Next, head out on the door and window trails for some awesome views of the Badlands. These are pretty easy hikes, but make sure to take water with you. I recommend packing a lunch to eat after taking these two hikes.
After lunch, hike the Saddle Pass Trail. This strenuous trail is short but heads straight up a hill. However, you are rewarded with amazing views once you complete it.
To end the day at Badlands National Park, drive the Badlands Loop Road. This offers stops at various picturesque viewpoints of the park. The loop takes you out the Pinnacles exit of the park.
Wall Drug Store
Cost: Free to Look
Hours: 8am-6pm
On the way back from Badlands National Park, make sure to stop at Wall Drug Store. This is a popular roadside stop due to its free ice water and 5 cent coffee. You can visit various themed shops, grab a bite to eat at the cafe, treat yourself to something from the soda fountain, and wander around the backyard area and museums. It is definitely worth a stop as part of a three day South Dakota itinerary.
Juniper
Cost: $$
Hours: Tues-Sun: 5pm-9pm
Tonight, eat dinner at Juniper in Rapid City. This newer restaurant uses locally sourced ingredients to make some delicious and mouth-watering dishes. The menu changes depending on what is available. I had an amazing chicken dish when I was there.
Day 2: Caves and Memorials
Today, you will spend exploring the caves and man-made wonders of South Dakota. Although it will be a jam-packed day, it is well worth adding these stops to a three day South Dakota itinerary.
Wind Cave National Park
Cost: Free-$12/person
Hours: 24 hours
First, head to Wind Cave National Park. It will take about an hour to drive here from Rapid City. You will want to get here by 8am to get tickets for a cave tour, if you were not able to get them online ahead of time. If you do not want to go inside the cave, you can drive around the park and see some of the sites.
I recommend taking the Natural Entrance Tour if possible. This tour will take about an hour and costs $12. After the tour, spend some time driving around the park to view animals such as bison and prairie dogs. The park also has 30 miles of hiking trails to choose from.
Next, stop for lunch in Custer at Maria’s Mexican. This delicious place has a sit-down restaurant or you can order from their food truck. Their tacos were really yummy and it was very affordable.
Jewel Cave National Monument
Cost: Free-$12/person
Hours: Wed-Sat: 8:30am-4:30pm
After lunch, head to Jewel Cave National Monument. It is the third-largest cave in the world and has over 200 miles of mapped passages. There are four tours you can take, but right now the cave is closed for tours due to COVID and the elevator getting redone. However, the Visitor’s Center is still open to learn about the cave.
Note that if you go on a cave tour of both Wind Cave and Jewel Cave on the same day, you will need to bring a change of clothes to help ensure you do not cross-contaminate the caves.
Crazy Horse Memorial
Cost: $24-$30 for two people
Hours: 9am-8pm
Next, head to Crazy Horse Memorial. This monument is being built for the Oglala Lakota warrior, Crazy Horse. It is being carved into the mountainside and is continuously being built through donations. The monument began being built in 1948 and is still being carved present day.
On-site, they also have a museum about the Native Americans in the area and an exhibit about the memorial being built. Oftentimes, there are also live Native American performances. Plan to spend about an hour at Crazy Horse Memorial.
Mount Rushmore National Memorial
Cost: $10 for parking
Hours: 5am-11pm
End your second of three days in South Dakota with a visit to Mount Rushmore. Mount Rushmore depicts four of the United States presidents carved into the mountainside. The heads are 60 feet large. The monument began being carved in 1927 and was completed in 1941.
In total, the park covers 1,200 acres of land. Opt to start at the Visitor’s Center to learn about the monument. Then, walk the 0.6-mile Presidential trail that takes you right up to the sculpture. Along the way back, make sure to stop at the Sculptor’s Studio where you can see the process it took to cave this masterpiece.
If you are here in the evening, make sure to stay in the amphitheater to watch the monument light up and the accompanying light show.
Eat dinner at Woolys
Cost: $$
Hours: Thus-Sat: 4pm-9pm
If your cave tour at Wind Cave is in the afternoon, opt to grab dinner at Woolys. They have a delicious menu and a great salad and side bar. If not, head back to Rapid City and grab dinner there.
Day 3: Custer State Park and Deadwood
On your last day of this three day South Dakota Itinerary, head to Custer State Park and Deadwood.
Custer State Park
Cost: $20/car
Hours: 24 hours
Custer State Park is located next to Wind Cave National Park. It is named after General George Custer who was an important US army officer in the Civil War. The park covers over 71,000 acres and is home to 1500 bison and tons of other wildlife.
There are a ton of things to do in Custer State Park. With over 450 miles of trails, there are many hiking options. Visitors can also bike, horseback ride, fish, swim, snowshoe, and various other outdoor activities.
Deadwood
This afternoon, if up for another 1.5-hour drive, opt to head to the town of Deadwood. This area was popular with settlers once the Black Hills gold rush started. At its height, the town was home to 25,000 people. Deadwood has a very old west vibe and many of the buildings are how they were back in the day. The town has been declared a National Historic Landmark.
Present-day, the town has fun shops, restaurants, and historic buildings. They also sometimes have concerts or other performances. In the wintertime, it is also a popular area for skiing and snowboarding.
Day 4: Depart Rapid City, South Dakota
If you flew into Rapid City, you can opt to take a departing flight from there as well. If you chose to drive in from Denver, you have an alternative option for driving back to Denver.
Fort Laramie National Historic Site
Cost: Free
Hours: 8am-4pm
First, stop at Fort Laramie National Historic Site. This drive will take you about 3.5 hours from Rapid City. This fort was an important stop and major trading post along the Oregon Trail. Visitors can opt to visit the old buildings and general store to view various exhibits on the times. You can also grab a sasparilla from the bar. Plan to spend about an hour exploring this historic fort.
Cheyenne, Wyoming
Then, head to Cheyenne, the capital of Wyoming. It will take about two hours to drive from Fort Laramie to Cheyenne. You can opt to spend the night in Cheyenne or Denver, or catch a flight out that same day. Either way, Cheyenne has a ton of cool things you can do in a day.
Make sure to stop at the Wyoming State Capitol. You can opt to tour the inside or just take a look around yourself. Swing by the Governor’s Mansion to see where the governors once lived. You can also stop by the Cheyenne Depot Plaza and Museum. Those who enjoy vodka and whiskey should stop at Chronicles Distilling. Finally, grab some food at the Albany.
What to Pack for a South Dakota Trip
- Hiking Shoes
- Windbreaker Jacket
- Comfortable Pants
- Reusable Water Bottle
- Lunch for Badlands
Total Costs for a Three Day South Dakota Itinerary
Airfare: $150/person
Hotel: $420 total
Rental Car: $280 total
Activities: $90/person if you do not have the America the Beautiful Pass and do all the Cave Tours
Total: $590/person
Other Things to add to a Three Day South Dakota Itinerary
If you have more time, you can easily spend more than three days in South Dakota. You can opt to head east to the capital of Pierre and then onto Sioux Falls. You could also opt to head west to visit Devil’s Tower National Monument and journey to Yellowstone National Park.
2 thoughts on “Three Day South Dakota Itinerary: How to Take the Best Road Trip from Denver to South Dakota’s National Parks”
I just stumbled upon your blog and will be planning a trip around the itinerary you mentioned. Great stuff!!!
Thank you so much! Please let me know if you have other questions! ☺️