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The Ultimate South Dakota Road Trip and Outdoor Adventure
This South Dakota road trip itinerary will take you through one of the most underrated states in the country — and one that quickly became my favorite. It may have taken me 27 years to get to SD, but it quickly became one of my favorite states — and you might just come to think the same.
I spent a long time planning this trip because I wanted to see as much as I could in a week’s time. This itinerary has been thoughtfully curated based on my personal experiences and many hours of travel research. I hope you find it useful as you plan your own South Dakota adventure.
This itinerary features 7 days of exploring with 2 days dedicated to travel. I flew in and out of Rapid City Regional Airport (RAP) for a convenient round trip. My trip took place during the first week of October to avoid peak season crowds — and I’d highly recommend that timing.
You’re bound to have a wonderful trip whether you pick and choose activities, swap days, or follow this itinerary closely.
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Why This South Dakota Road Trip Itinerary Works
Early October is shoulder season out here, which comes with a real caveat: the weather is genuinely unpredictable. You could wake up to snow on the Needles Highway, or you could be hiking in 80-degree sunshine — sometimes both in the same week.
That said, the gamble has a serious upside: smaller crowds at every major site, lodging prices that are noticeably lower than peak summer rates, and a version of South Dakota that feels a little more like yours. I’ll take that trade-off. And honestly? The timing worked out so well for me that I came back in early October 2025 and got married in Custer State Park — and the weather was absolutely perfect. South Dakota in the fall has a way of surprising you.
Pro Tip: Get the America the Beautiful Pass
One of the best investments you can make before starting your South Dakota road trip itinerary is the America the Beautiful Annual Pass ($80). It covers entrance fees to ALL U.S. National Parks and Federal Recreation Lands for one year. On this itinerary alone, it covers:
- Badlands National Park — $30 value
- Wind Cave National Park — included
- Devil’s Tower National Monument — $25 value
That’s $55+ saved on one trip. If you visit any other national parks in the same year, it pays for itself even faster. You can purchase it at the first park entrance you visit, or in advance at Recreation.gov.
Trip Summary
Click to jump to the day’s description
Use this South Dakota road trip itinerary as a flexible starting point.
- Day 1: Travel to Rapid City, SD
- Day 2: Badlands National Park
- Day 3: Wall Drug, Mount Rushmore, and Crazy Horse
- Day 4: Custer State Park and Black Elk Peak
- Day 5: Wind Cave National Park and the Mammoth Site
- Day 6: Spearfish Canyon
- Day 7: Devil's Tower Day Trip
- Day 8: Rapid City and Buffer Time
- Day 9: Travel Home
Day 1
Travel to Rapid City, SD
Your South Dakota road trip itinerary begins in Rapid City, SD. We arrived around 10:30 PM and rented a car from the airport — a car is absolutely essential for this trip, so be sure to book yours in advance. There is also an airport shuttle called the Rapid Shuttle, offered by Airport Express Shuttle, Inc. Many hotels use this service for complimentary shuttles — call your hotel to confirm options.
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We stayed at the Fairfield Inn & Suites by Marriott Rapid City upon arrival, which was a convenient and comfortable choice right near the airport. Keep in mind Rapid City follows Mountain Standard Time.
Day 2
Badlands National Park
Badlands National Park is a MUST add to your South Dakota road trip itinerary. The rugged landscape offers incredible views and plenty of wildlife viewing opportunities — bison, bighorn sheep, prairie dogs, and black-footed ferrets. I recommend spending an entire day here if you’re a hiker or just enjoy being outside.
The trails we hiked:
- Notch Trail (1.2 miles)
- Door Trail (0.8 miles)
- Window Trail (0.3 miles)
- Medicine Root and Castle Trail Loop (4 miles)
- Saddle Pass Trail (0.6 miles) — On the more difficult side. Proceed with caution — lots of loose and sharp rocks.
There are also countless overlooks throughout the park in addition to many more hikes. Stop at as many overlooks as you can as you drive the Badlands Loop Road. Plan your day around a sunrise or sunset at the Badlands if you can — there’s something truly magical about seeing a colorful sky behind those rock formations. We watched the sunset at the Pinnacles Overlook.
Other Details:
- Where we stayed: Best Western Plains Motel
- Where we ate: Badlands Saloon & Grille, Wall Drug Store
- Badlands Entrance Fee (2026): Private Vehicle $30 | Individual (hike/bike) $15 | Motorcycle $25 | Military free | Covered by America the Beautiful Pass
- ⚠️ Heads up: Badlands is now cashless — no cash accepted at entrances. Have a card ready, or purchase your pass online at Recreation.gov before you arrive.
- Nearby: The Missile National Monument is a quick detour worth considering. Note it’s closed Mondays and Tuesdays.
Day 3
Wall Drug, Mount Rushmore, and Crazy Horse
I’m an early riser, and sunrise at the Badlands is legendary — so we started Day 3 back at the park for sunrise at Big Badlands Overlook. In early October the sun rose around 7AM, so the wake-up call wasn’t too painful.
After sunrise, we drove to the town of Wall and visited the iconic Wall Drug for breakfast. By this point of the trip the name won’t be new to you — you literally cannot drive through the area without seeing hundreds of signs for this place. I’ve never seen such thorough advertising in my life. The breakfast was delicious, and it’s a one-of-a-kind tourist attraction: a mechanical dinosaur, endless gift shops, a mini Mount Rushmore, and the famous free ice water.
The rest of the day was dedicated to memorials.
Mount Rushmore National Memorial needs no introduction. We took photos from the main viewing platform and walked the Mount Rushmore and Presidential Trail Loop (0.9 miles). There’s a museum with fascinating detail about the construction and history of the memorial — plus food and ice cream options.
Next, we drove about 30 minutes to Crazy Horse Memorial — and I’d highly recommend going after Mount Rushmore, because the sheer scale of Crazy Horse will blow you away by comparison.
Although only partially complete, Crazy Horse is the world’s largest mountain carving and is considered the 8th Wonder of the World in progress. The carving depicts Crazy Horse, a Lakota war leader who fought against encroachment by the U.S. government to preserve the traditional Native American way of life. The story behind it is as moving as the monument itself.
Other Details:
- Where we stayed: Custer’s CampHouse, a cute cabin near Mt. Rushmore and the Fire Lookout Tower at Tiny Bison Resort (on our second trip in 2025)
- Where we ate: Ruby House Restaurant; groceries from Lynns Dakotamart for a campfire cookout
- Mount Rushmore Parking Fee (2026): $10 per vehicle | $5 Seniors | Free for Active Duty Military
- Crazy Horse Entrance Fee (2026): 3+ people in vehicle $30 | 2 people $24 | 1 person $12 | Motorcycle/bicycle/walking $7 per person | Military free
Day 4
Custer State Park and Black Elk Peak
After waking up at the cabin in Custer, we grabbed some coffee, packed subs for lunch, and headed to Custer State Park.
The park is widely known for its bison herds along the Wildlife Loop Road, but I was most excited to hike. From Custer State Park you can reach South Dakota’s highest point at Black Elk Peak (7,242 feet) — and from the summit, you’re standing at the highest elevation between the Rocky Mountains and the French Pyrenees.
Hike Details:
Many people opt for the Black Elk Peak Loop, starting at Sylvan Lake, for the standard 7-mile round trip hike. We went a more scenic route:
- A combination of the Black Elk Peak via Cathedral Spires Trail + Little Devils Tower Spur Trail
- Total: approximately 8 miles, just under 5 hours
After the hike we stopped at Sylvan Lake for the views and to rest our legs. We then tried to spot bison on the Wildlife Loop Road — we were unlucky on our visit (there was some construction), but according to the park, dawn and dusk are the best times to spot wildlife.
Other Details:
- Where we stayed: Custer’s CampHouse, a cute cabin near Mt. Rushmore and the Fire Lookout Tower at Tiny Bison Resort (on our second trip in 2025)
- Where we ate: Subway, Dairy Queen (post-hike ice cream — obviously)
- Coffee: Miner’s Cup in Custer
- Custer State Park Entrance Fee (2026): $25 per vehicle for 7 days | $20 per motorcycle
Day 5
Wind Cave National Park and the Mammoth Site
After a few days of serious hiking, we planned a slower-paced day — starting with a ranger-guided cave tour at Wind Cave National Park.
Established in 1903, it’s one of the oldest National Parks in the country. Wind Cave is famous for its rare boxwork calcite formations — about 95% of the world’s known boxwork is found right here. It’s also the seventh-longest cave system in the world.
The cave maintains a temperature of about 54°F year-round, so bring a light jacket regardless of the weather outside. Tours are ranger-guided only (you can’t explore on your own). We did the Natural Entrance Tour.
⚠️ Important: Tickets are first-come, first-served the day of visit — but if you’re visiting in summer or around holidays, tours can sell out. Check the park website for any advance ticket options before your trip.
Wind Cave Tour Admission (2026): Check NPS.gov/wica for current pricing as rates are updated periodically. Admission to the park grounds themselves is free.
Our second stop was the Mammoth Site in Hot Springs — and it genuinely surprised us. I wasn’t sure it would be worth the detour, but it absolutely was.
The Mammoth Site is both a museum and an active paleontological excavation site. It features a prehistoric sinkhole where the remains of 61 mammoths were discovered — the largest concentration of mammoth remains in the world. You can watch real paleontologists at work. If you have any interest in science or natural history, don’t skip this.
Mammoth Site Admission (2026): Ages 3 & under free | Ages 4–12 $9 | Ages 13–59 $12 | Ages 60+ $10 | Active & Retired Military $9 Note: verify current pricing at mammothsite.org before your visit
Other Details:
- Where we stayed: Custer’s CampHouse, a cute cabin near Mt. Rushmore and the Fire Lookout Tower at Tiny Bison Resort (on our second trip in 2025)
- Where we ate: Black Hills Burger & Bun Co.
Day 6
Spearfish Canyon
On Day 6 we explored the Spearfish Canyon Scenic Byway — and nearly everything worth seeing is accessible right off this one road.
The canyon features multiple waterfalls, breathtaking views, and abundant wildlife. One critical note: this area has very poor cell service. We had essentially no signal for most of the day — download any maps or information you need before you leave your hotel.
The spots we visited (by car or short hike):
- Roughlock Falls (1.8 miles)— A breathtaking multi-tiered waterfall
- ’76 Trail Hike (1.3 miles) — A strenuous hike with sweeping canyon views from above
- Spearfish Falls Hike (0.7 miles) — Easy, paved, and absolutely gorgeous
- Bridal Veil Falls — A 60-foot waterfall with easy roadside access (note: flow can be slow in fall/dry seasons)
- Devil’s Bathtub Hike (1.6 miles) — A fun trail that crosses a stream multiple times, ending at a swimming hole
It’s a full day if you visit all these spots, but it’s one of the most scenic and varied days of the trip.
Other Details:
- Where we stayed: No longer listed on VRBO (Ramblin’ Rose at Terry Peak is great nearby option)
- Where we ate: Subway, Lewie’s Saloon & Eatery
Day 7
Devil's Tower Day Trip
I had never been to Wyoming before this day — and what a way to visit for the first time.
Devil’s Tower National Monument (also known as Bear Lodge Butte) is just under 90 minutes from Spearfish. We drove through the charming western town of Hulett on the way, which added to the road trip atmosphere.
Devil’s Tower is composed of sedimentary rock intruded by magma about 56–66 million years ago. It’s considered sacred by Northern Plains Indian and indigenous peoples, and its scale is humbling in person. The tower rises 867 feet above the surrounding terrain.
We did the Tower Trail (1.6 miles), which circles the entire base of the monument — highly recommended. If you’re into climbing, Devil’s Tower is also one of the finest crack climbing areas in North America.
We picked up a souvenir t-shirt at the Devil’s Tower Trading Post on the way out.
Other Details:
- Where we stayed: No longer listed on VRBO (Ramblin’ Rose at Terry Peak is great nearby option)
- Where we ate: Culver’s, pizza
- Devil’s Tower Entrance Fee (2026): Private Vehicle $25 | Individual (hike/bike) $15 | Motorcycle $20 | Military free | Covered by America the Beautiful Pass
Day 8
Rapid City and Buffer Time
This South Dakota road trip itinerary covers 7 full days of exploring, so I purposely built buffer time into Day 8 in case of bad weather or anything unexpected. Fortunately the trip went smoothly, so we used it to explore Rapid City and a few more Black Hills spots.
We started at Dinosaur Park — a ridge-top park with seven life-sized concrete dinosaur replicas, open since 1936. It shows its age, but it’s free and charming in a kitschy way. Kids especially love it.
Next, we grabbed lunch downtown and walked Main Street, stopping for a beer at Firehouse Brewing Company — the oldest brewery in South Dakota. Downtown Rapid City is also known for the free City of Presidents walking tour, featuring life-size bronze statues of U.S. presidents along the city streets.
We ended the trip with a round-trip ride on the Black Hills Central Railroad 1880 Train. The steam-powered train departs from Hill City and Keystone, winding through gorgeous Black Hills scenery while a narrator shares the history of the region. It was the perfect way to unwind after a week of activity.
⚠️ Heads up on 1880 Train pricing: Fares have been updated since I first wrote this post — check 1880train.com for current ticket prices and to book in advance, especially if you’re visiting on a weekend.
Other sites worth visiting that we missed:
- Chapel in the Hills (free admission — was closed for the season when we went)
- Air and Space Museum (free admission — closed Sundays)
Other Details:
- Where we stayed: Home2 Suites by Hilton Rapid City
- Where we ate: Murphy’s Pub & Grill, Culver’s
- Where we drank: Firehouse Brewing Company
Day 9
Travel Home
Sadly, the adventure has come to an end. Fly or drive back home with memories and photographs to last a lifetime.
I hope this South Dakota road trip itinerary helps you plan your own trip. Feel free to shoot me a message here or on Instagram (@emilygoesplaces) if you have any questions!
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Post updated April 2026.
