Denver → Mount Rushmore & South Dakota’s Black Hills (Great Plains to Badlands)

Trip Snapshot:

Distance & time: ~360 miles to Mount Rushmore; around 6–7 hours driving (Denver to Rushmore via fastest route). The loop with extras can be ~800+ miles total.
Best time: June–September for all attractions being open and warm weather. Early fall (Sept) offers golden prairies and fewer crowds; late spring is nice too. Winter is off-season (some facilities closed, but if you don’t mind cold, it’s quiet).
Ideal for: Families, road-trip enthusiasts, Americana/history buffs, wildlife photographers.
Quick route: Denver → I‑25 N to Cheyenne → US‑85/US‑18 through eastern Wyoming → Rapid City, SD → Keystone (Mount Rushmore) → Custer State Park & Black Hills sights → Badlands National Park → loop back via I‑90 W to I‑25 S, or return the way you came. (There are several possible loops; this plan covers the highlights.)
Top 3 highlights: The carved presidents of Mount Rushmore • Driving amidst bison in Custer State Park • The otherworldly spires of Badlands National Park.

Route Overview: This is a classic all-American road trip, traversing from the Front Range of Colorado through the High Plains into the Black Hills of South Dakota. It’s a lot of driving, but with great stops spaced out nicely. A typical loop might be: Day 1 drive Denver to the Black Hills (with maybe a pit stop in Cheyenne or a quirky one like Carhenge), Day 2 explore Custer State Park and Mount Rushmore area, Day 3 see Badlands and Wall Drug, then head back. You can adjust based on time. Expect lots of open road with big skies (and likely a few Wall Drug billboards to entertain you). The Black Hills area is a compact hub of attractions you’ve got Mount Rushmore, the still-in-progress Crazy Horse Memorial, the wildlife haven of Custer State Park, scenic drives like the Needles Highway (SD-87) with its narrow tunnels, and the whimsical roadside stops (like Flintstones Bedrock City, if it’s still around, or the Cosmos Mystery Area). Continuing east, the Badlands offer a dramatic change of scenery stark but beautiful. On the way back, a kitschy must-stop is Wall Drug (free ice water, donuts, and an entire block of touristy fun). Prepare for some long stretches without services (especially on US-85 in WY and parts of I-90 in SD) and watch out for the infamous high winds in eastern Wyoming.

Top Stops & Experiences:

Visit Cheyenne, WY(Family-friendly) About 100 miles north of Denver on I-25, Cheyenne is Wyoming’s capital and a fitting first stop to stretch your legs. Look for the giant cowboy boot art installations around town (there are 8-foot tall decorated boots on street corners fun for photos and a scavenger hunt for kids). Check out the historic Cheyenne Depot Plaza the old Union Pacific train depot has a museum and near it you might see one of the Big Boy locomotives on display. If you’re hungry, maybe grab a bison burger or some Rocky Mountain oysters (only for the daring eaters!) at a local joint. This is frontier country even the Starbucks here has cowboy flair. It’s a quick taste of the Old West before hitting the road again.
Carhenge (Alliance, NE)(Family-friendly) A bit off the direct route, but if you love quirky roadside attractions, Carhenge is worth the detour (Alliance is in Nebraska’s panhandle). It’s exactly what it sounds like: Stonehenge replicated with vintage cars painted gray and arranged in a circle. It’s delightfully weird and photogenic. The kids will be amazed (“why is there a car stuck in the air?”) and the whole thing is free to visit. There’s a small visitor center/gift shop in summer. Even if you spend just 20 minutes here, you’ll talk about it for years. From Cheyenne, Carhenge is roughly a 3-hour drive northeast, and after Carhenge you’d head northwest to the Black Hills (about 2.5 more hours to Rapid City). If that’s too far out, you can bypass it but then you’d miss out on saying you’ve been to Carhenge. Your call!
Mount Rushmore National Memorial(Family-friendly) The iconic 60-foot faces of Washington, Jefferson, Teddy Roosevelt, and Lincoln carved into granite. It’s one of those bucket list places that often exceeds expectations, especially if you catch the Evening Lighting Ceremony in summer (a ranger talk, a patriotic film, then the faces light up as everyone sings goosebumps for many). The ceremony runs nightly late May–Sept, typically at 9pm in midsummer shifting to 8pm by late Aug. During the day, walk the Presidential Trail (0.5 mile with some stairs) to get closer views. Check out the sculptor’s studio to see how Borglum planned this marvel. Kids can do the Junior Ranger program and get a badge. Note: Parking at Rushmore is $10 (not covered by park passes). It’s well-organized with a parking garage. Plan 1-2 hours here outside of the evening show. If you can, see it both in daylight and at night. It truly is an American treasure and tends to give you a patriotic tingle.
Crazy Horse Memorial(Family-friendly) Just 17 miles from Mount Rushmore, this is a massive mountain carving in progress, honoring the Lakota warrior Crazy Horse and Native American heritage. The sculpture is far from finished (it’s been underway since 1948, and currently the 87-foot-tall face of Crazy Horse is completed). Eventually it will show him riding a horse, 563 feet high the scale is mind-blowing (the entire Rushmore carvings could fit in the space of Crazy Horse’s head!). There’s a great Indian Museum of North America on site and cultural performances in summer. It’s a $12 per person entry (or $30 per car). You can take a bus to the base of the mountain for an extra fee or just view from the visitor center. It’s particularly impressive in the laser-light nighttime show (summers), when they project imagery on the mountain. Whether you find it inspiring or controversial (some Natives have mixed feelings about a sacred mountain being carved), it’s undeniably an astonishing endeavor. The scale models in the visitor center show the intended final shape wow.
Custer State Park(Family-friendly) South Dakota’s crown jewel state park, and do not skip it. It’s like a safari on the Great Plains. The 18-mile Wildlife Loop Road winds through rolling prairies and pine hills where bison roam freely Custer has about 1,400 head of buffalo (one of the world’s largest public herds). It’s common to encounter a “bison jam” where a herd crosses or hangs out on the road stay in your vehicle and enjoy the close-up view. You’ll likely also spot prairie dogs (at Prairie Dog Town), pronghorn (often mis-called antelope), wild turkeys, deer, and the famous “begging burros.” The burros are feral donkeys, descendants of ones used long ago they’re very tame and often stick their heads in car windows looking for snacks. (Feeding them apples or carrots is tradition, but official guidance is not to feed wildlife, so do so sparingly and carefully if you choose). Beyond wildlife, Custer SP offers lovely lakes (Sylvan Lake is postcard-perfect and was a shooting location for the movie National Treasure 2), and scenic drives like Needles Highway with its granite spires and tunnels, and Iron Mountain Road, which has one-way tunnels that frame Mount Rushmore in the distance a really cool sight. Allow a half-day at minimum. There is a $20/vehicle 7-day pass for the state park.
Needles Highway (SD-87)(Family-friendly) This 14-mile road in Custer State Park is an engineering marvel and super scenic. It twists among towering granite “needle” formations and goes through narrow tunnels blasted through the rock. The most famous is Needles Eye Tunnel, only 8’4” wide by 9’8” tall yes, your vehicle will likely fit (even pickups and large SUVs squeeze through, one at a time). Check your mirrors and fold them in if necessary! Large RVs or trailers cannot go here they have to route around. Driving through that tunnel is a rite of passage; there’s often a line as vehicles take turns. Right after the tunnel is the Needles Eye spire a slender rock with a slit that looks like a needle’s eye. There’s a pull-off to stop and take photos. Drive slow, use pullouts to let others pass, and enjoy the alien landscape. This road closes in winter and is usually open from April to October. It’s not about the distance; it’s about the experience allow at least an hour to drive it (plus more if you stop). Motorcycle riders love this road during the Sturgis Rally (early August), so be extra cautious then.
Badlands National Park(Family-friendly) Head about 1.5 hours east of Rapid City on I-90 and you’ll find the Badlands, a striking expanse of eroded buttes, pinnacles, and spires rising from the prairie. It’s like a moonscape with stripes of pink, orange, and yellow utterly otherworldly. The Badlands Loop Road (SD-240) takes you through the heart of it. Stop at overlooks like Big Badlands Overlook (near the east entrance) or Yellow Mounds Overlook (where the hills are vividly yellow from fossil soils). The Fossil Exhibit Trail is a short, accessible boardwalk with fossil replicas good for kids. A couple of easy hikes: Door Trail (0.75 mi boardwalk leading out into a badlands “door” opening) and Windows Trail (0.25 mi to a viewpoint). Keep an eye out for bighorn sheep scaling the formations or bison in the distance (the park has some, often near the Sage Creek area). Sunset in the Badlands is magical the rocks glow and the sky can be brilliant. Note: summers are hot (hike in morning or evening), and thunderstorms can be fierce (but short). The park is open 24/7, and if you stay late, the stargazing is phenomenal it’s an International Dark Sky Park. Even a quick drive-through is worth it, but if you can, dedicate half a day to wander a bit. And yes, your shoes will get that Badlands dust on them wear old sneakers if possible.
Wall Drug (Wall, SD)(Family-friendly) After the Badlands (or before, depending on direction), you must stop at Wall Drug in the town of Wall off I-90. It’s the ultimate tourist pit stop an entire city block of kitsch, cafes, and shops that started in 1931 by offering free ice water to travelers. It’s still free and flowing and 5¢ coffee too. Snap a photo on the giant jackalope statue, let the kids splash in the backyard mining water fountain, browse hundreds of quirky souvenirs (from Black Hills gold to jackalope hunting licenses). The doughnuts are legitimately yummy and made fresh (try the maple frosted). There’s a restaurant if you need a full meal think hot roast beef sandwiches, buffalo burgers, etc. It’s kitschy Americana at its finest. Even if you’re not into tourist traps, Wall Drug is a piece of history and silly fun. Plus, after seeing dozens of their bumper stickers and billboards along the highway (“Only 523 miles to Wall Drug!”), you kind of have to go.

Where to Eat & Stay:
– Food: In the Black Hills area, lots of small towns have local joints. In Keystone (near Rushmore), try BaRLee’s for BBQ or Powder House Lodge for a good steak/bison filet. Custer town has Black Hills Burger and Bun Co. fantastic burgers (often a line). For something unique: Alpine Inn in Hill City serves a famous fixed-menu filet mignon dinner that’s both affordable and delicious (cash or check only, they close after they run out). Rapid City, the biggest town, has more chain options and a nice downtown with brewpubs (check out Firehouse Brewing Co. in an old firehouse). While in Badlands/Wall, Wall Drug’s cafe is a safe bet their buffalo burgers and pie are decent. In the Badlands loop, there’s Cedar Pass Lodge which has a restaurant in season (fry bread tacos, etc.). If you overnight in Badlands, consider the Badlands Saloon & Grille in Wall or Red Rock Restaurant in Interior for local flavor. Don’t forget to sample local staples like chislic (fried mutton cubes) or Kolache pastries if you see them at country bakeries. And carry snacks distances are far and you might picnic at a roadside pullout with sweeping prairie views.
– Lodging: Rapid City makes a convenient base for multiple nights lots of hotels (e.g., Holiday Inn, Marriott, plus local motels) and ~30-45 min drive to attractions. If you want to wake up with presidents, K Bar S Lodge in Keystone has views of Rushmore from some rooms. Custer State Park has lovely lodges (State Game Lodge, Sylvan Lake Lodge) and cabins, but book early; it’s popular in summer. For a unique stay, try Blue Bell Lodge (rustic cabins under pines, with a nightly chuckwagon dinner experience). If you want the Old West historic vibe, The Alex Johnson Hotel in Rapid City (built 1928, supposedly haunted) is cool and right downtown. Closer to Badlands, Cedar Pass Lodge has new cabins with Badlands views (awesome for sunrise), and there are also budget motels in Wall. If camping/RVing, options abound: Custer SP campgrounds, Badlands’ Cedar Pass, and private campgrounds. One word: Sturgis Rally (early August) if your trip coincides with the huge motorcycle rally, accommodations will be scarce/pricey and roads filled with bikes. It’s an experience, but plan far ahead or avoid that week if you want a quieter trip.

Detours & Extensions:

Wind Cave National Park (add 2–3 hours): Just south of Custer State Park lies Wind Cave, one of the world’s longest caves known for its rare boxwork formations. They offer ranger-guided cave tours (from easy walking to more spelunking adventures). The cave is a constant ~54°F a nice break from summer heat. You’ll see honeycomb-like calcite formations on the cave walls that you won’t find hardly anywhere else. On the surface, Wind Cave NP also has wildlife (bison, prairie dogs) and lovely rolling hills. If you have an extra half-day, it’s worth it especially if caverns intrigue you. Try to arrive early for tour tickets; in summer they can sell out by afternoon.
Spearfish Canyon & Deadwood (add 2–3 hours): In the northern Black Hills, Spearfish Canyon is a gorgeous limestone canyon with waterfalls (Bridal Veil Falls is roadside; Spearfish Falls requires a short hike). Great for a scenic drive especially in fall when leaves turn. The old west town of Deadwood is nearby famous for Wild Bill Hickok and Calamity Jane. Today it’s somewhat touristy with casinos, but still has preserved historic charm. You can watch a Main Street shootout reenactment in summer or visit Mount Moriah Cemetery where those legends are buried. Deadwood also offers nightlife if you like a little gambling or saloon atmosphere. It’s a detour northwest of Rapid City (~1 hour), but history buffs might enjoy it.
Devils Tower National Monument (add ~2 hrs for visit, plus drive time): If you’re looping back via Wyoming, you can swing by Devils Tower America’s first national monument. It’s that giant hexagonal-columned monolith from Close Encounters of the Third Kind. Located in NE Wyoming, about 1.5 hours west of Rapid City, it’s an awe-inspiring sight rising out of plains. There’s a 1.3-mile trail around its base (look up to often spot climbers scaling it). Also, prairie dog towns abound near the parking. It adds miles, but if heading back to Denver via I-25, you can make it fit (Devils Tower to Denver is ~6 hrs). Seeing the Tower at sunset or under a big sky is memorable. Just note, it’s a sacred site for many tribes you might see prayer bundles tied to trees. Out of respect, refrain from loud activities or drone usage.

Practical Tips:

Wildlife wisdom: Bison are unpredictable never approach on foot. If they’re blocking the road, be patient, stay in your car, and they’ll move along. Do not honk (it won’t help and could agitate them). In Custer SP or Badlands, you might also encounter bighorn sheep or burros on roads; slow down and enjoy the view. Keep a distance of at least 25 yards from most wildlife, and 100 yards from predators like any possible bears (rare in the Badlands) or mountain lions (very elusive). Basically, use common sense and zoom lenses.
Park fees: The trifecta of this trip Mount Rushmore, Badlands NP, and Wind Cave NP all accept the National Park Annual Pass. Custer State Park and Devils Tower are separate fees (state park and national monument, respectively). If doing multiple, the federal annual pass ($80) might pay off. Also check for military or 4th-grade free passes if applicable.
Roads: The Black Hills have curvy, narrow roads. Iron Mountain Road has pigtail bridges (loops) and tunnels; Needles Highway tunnels are extremely tight. Drive slowly and be courteous many rental RVs or bikers unfamiliar with mountain roads will be about. If you’re in a large RV yourself, plan routes carefully (Needles and Iron Mountain are not recommended for big rigs). Watch for wildlife especially at dawn/dusk. In winter, some scenic roads close; major highways are usually open but can get snow spring and fall storms are possible, so check conditions if traveling off-summer.
Weather: Summer in SD/WY can get hot (90s°F) but also stormy. Thunderstorms roll through and can be severe with hail have a backup indoor plan (museums, caves) for afternoon storms. Conversely, nights can be cool, especially in the hills (pack a light jacket). If camping, prepare for temp swings. Wind is a constant on the prairie; hold onto your hats at overlooks! Also note, the Sturgis Motorcycle Rally (first half of August) greatly increases traffic and congestion in the Black Hills if you’re not part of it, you might find lodging and roads more crowded, and a constant rumble of Harleys. Some love it, some don’t just be aware.
Cultural respect: The Black Hills are sacred to Lakota and other tribes. Crazy Horse Memorial and various sites around (e.g., Bear Butte near Sturgis) carry spiritual significance. Be respectful at monument exhibits and when discussing history. There’s a complex and often tragic Native history in this area (Wounded Knee is further away in SW SD, but you might hear about it). Learning a bit about it (through museum exhibits or ranger talks) will enrich your trip beyond just scenery.

Rentals & Logistics: A midsize SUV or minivan is ideal for this extensive loop comfortable for long hours, good for gravel roads in Badlands or Custer’s dirt side roads, and spacious for luggage plus those souvenirs (that 5-foot stuffed jackalope from Wall Drug, perhaps?). Also, high clearance is useful for some off-the-beaten-path spurs. Gas stations are ample in towns but can be far apart in rural stretches; fill up when you can, especially before crossing Wyoming or heading into the Badlands loop. Denver to Black Hills via I-25/US-85 is remote at times one notable stop is Lusk, WY (last fuel before SD state line). Cell service is spotty in Black Hills backroads and Badlands (take screenshots of maps, or grab free maps at visitor centers). The drives are big but rewarding consider sharing driving duties if you have multiple drivers. Finally, embrace the Americana of this road trip: play some classic rock or country, enjoy pie and coffee in a small-town café, and don’t be in a rush. Part of the magic is in the journey and the unexpected finds (world’s largest whatever, funny road signs) along the way. So, ready to head north to “see the presidents” and beyond?

Denver → Mount Rushmore & South Dakota’s Black Hills (Great Plains to Badlands)

Trip Snapshot:

Distance & time: ~360 miles to Mount Rushmore; around 6–7 hours driving (Denver to Rushmore via fastest route). The loop with extras can be ~800+ miles total.
Best time: June–September for all attractions being open and warm weather. Early fall (Sept) offers golden prairies and fewer crowds; late spring is nice too. Winter is off-season (some facilities closed, but if you don’t mind cold, it’s quiet).
Ideal for: Families, road-trip enthusiasts, Americana/history buffs, wildlife photographers.
Quick route: Denver → I‑25 N to Cheyenne → US‑85/US‑18 through eastern Wyoming → Rapid City, SD → Keystone (Mount Rushmore) → Custer State Park & Black Hills sights → Badlands National Park → loop back via I‑90 W to I‑25 S, or return the way you came. (There are several possible loops; this plan covers the highlights.)
Top 3 highlights: The carved presidents of Mount Rushmore • Driving amidst bison in Custer State Park • The otherworldly spires of Badlands National Park.

Top Stops & Experiences:

Visit Cheyenne, WY(Family-friendly) About 100 miles north of Denver on I-25, Cheyenne is Wyoming’s capital and a fitting first stop to stretch your legs. Look for the giant cowboy boot art installations around town (there are 8-foot tall decorated boots on street corners fun for photos and a scavenger hunt for kids). Check out the historic Cheyenne Depot Plaza the old Union Pacific train depot has a museum and near it you might see one of the Big Boy locomotives on display. If you’re hungry, maybe grab a bison burger or some Rocky Mountain oysters (only for the daring eaters!) at a local joint. This is frontier country even the Starbucks here has cowboy flair. It’s a quick taste of the Old West before hitting the road again.
Carhenge (Alliance, NE)(Family-friendly) A bit off the direct route, but if you love quirky roadside attractions, Carhenge is worth the detour (Alliance is in Nebraska’s panhandle). It’s exactly what it sounds like: Stonehenge replicated with vintage cars painted gray and arranged in a circle. It’s delightfully weird and photogenic. The kids will be amazed (“why is there a car stuck in the air?”) and the whole thing is free to visit. There’s a small visitor center/gift shop in summer. Even if you spend just 20 minutes here, you’ll talk about it for years. From Cheyenne, Carhenge is roughly a 3-hour drive northeast, and after Carhenge you’d head northwest to the Black Hills (about 2.5 more hours to Rapid City). If that’s too far out, you can bypass it but then you’d miss out on saying you’ve been to Carhenge. Your call!
Mount Rushmore National Memorial(Family-friendly) The iconic 60-foot faces of Washington, Jefferson, Teddy Roosevelt, and Lincoln carved into granite. It’s one of those bucket list places that often exceeds expectations, especially if you catch the Evening Lighting Ceremony in summer (a ranger talk, a patriotic film, then the faces light up as everyone sings goosebumps for many). The ceremony runs nightly late May–Sept, typically at 9pm in midsummer shifting to 8pm by late Aug. During the day, walk the Presidential Trail (0.5 mile with some stairs) to get closer views. Check out the sculptor’s studio to see how Borglum planned this marvel. Kids can do the Junior Ranger program and get a badge. Note: Parking at Rushmore is $10 (not covered by park passes). It’s well-organized with a parking garage. Plan 1-2 hours here outside of the evening show. If you can, see it both in daylight and at night. It truly is an American treasure and tends to give you a patriotic tingle.
Crazy Horse Memorial(Family-friendly) Just 17 miles from Mount Rushmore, this is a massive mountain carving in progress, honoring the Lakota warrior Crazy Horse and Native American heritage. The sculpture is far from finished (it’s been underway since 1948, and currently the 87-foot-tall face of Crazy Horse is completed). Eventually it will show him riding a horse, 563 feet high the scale is mind-blowing (the entire Rushmore carvings could fit in the space of Crazy Horse’s head!). There’s a great Indian Museum of North America on site and cultural performances in summer. It’s a $12 per person entry (or $30 per car). You can take a bus to the base of the mountain for an extra fee or just view from the visitor center. It’s particularly impressive in the laser-light nighttime show (summers), when they project imagery on the mountain. Whether you find it inspiring or controversial (some Natives have mixed feelings about a sacred mountain being carved), it’s undeniably an astonishing endeavor. The scale models in the visitor center show the intended final shape wow.
Custer State Park(Family-friendly) South Dakota’s crown jewel state park, and do not skip it. It’s like a safari on the Great Plains. The 18-mile Wildlife Loop Road winds through rolling prairies and pine hills where bison roam freely Custer has about 1,400 head of buffalo (one of the world’s largest public herds). It’s common to encounter a “bison jam” where a herd crosses or hangs out on the road stay in your vehicle and enjoy the close-up view. You’ll likely also spot prairie dogs (at Prairie Dog Town), pronghorn (often mis-called antelope), wild turkeys, deer, and the famous “begging burros.” The burros are feral donkeys, descendants of ones used long ago they’re very tame and often stick their heads in car windows looking for snacks. (Feeding them apples or carrots is tradition, but official guidance is not to feed wildlife, so do so sparingly and carefully if you choose). Beyond wildlife, Custer SP offers lovely lakes (Sylvan Lake is postcard-perfect and was a shooting location for the movie National Treasure 2), and scenic drives like Needles Highway with its granite spires and tunnels, and Iron Mountain Road, which has one-way tunnels that frame Mount Rushmore in the distance a really cool sight. Allow a half-day at minimum. There is a $20/vehicle 7-day pass for the state park.
Needles Highway (SD-87)(Family-friendly) This 14-mile road in Custer State Park is an engineering marvel and super scenic. It twists among towering granite “needle” formations and goes through narrow tunnels blasted through the rock. The most famous is Needles Eye Tunnel, only 8’4” wide by 9’8” tall yes, your vehicle will likely fit (even pickups and large SUVs squeeze through, one at a time). Check your mirrors and fold them in if necessary! Large RVs or trailers cannot go here they have to route around. Driving through that tunnel is a rite of passage; there’s often a line as vehicles take turns. Right after the tunnel is the Needles Eye spire a slender rock with a slit that looks like a needle’s eye. There’s a pull-off to stop and take photos. Drive slow, use pullouts to let others pass, and enjoy the alien landscape. This road closes in winter and is usually open from April to October. It’s not about the distance; it’s about the experience allow at least an hour to drive it (plus more if you stop). Motorcycle riders love this road during the Sturgis Rally (early August), so be extra cautious then.
Badlands National Park(Family-friendly) Head about 1.5 hours east of Rapid City on I-90 and you’ll find the Badlands, a striking expanse of eroded buttes, pinnacles, and spires rising from the prairie. It’s like a moonscape with stripes of pink, orange, and yellow utterly otherworldly. The Badlands Loop Road (SD-240) takes you through the heart of it. Stop at overlooks like Big Badlands Overlook (near the east entrance) or Yellow Mounds Overlook (where the hills are vividly yellow from fossil soils). The Fossil Exhibit Trail is a short, accessible boardwalk with fossil replicas good for kids. A couple of easy hikes: Door Trail (0.75 mi boardwalk leading out into a badlands “door” opening) and Windows Trail (0.25 mi to a viewpoint). Keep an eye out for bighorn sheep scaling the formations or bison in the distance (the park has some, often near the Sage Creek area). Sunset in the Badlands is magical the rocks glow and the sky can be brilliant. Note: summers are hot (hike in morning or evening), and thunderstorms can be fierce (but short). The park is open 24/7, and if you stay late, the stargazing is phenomenal it’s an International Dark Sky Park. Even a quick drive-through is worth it, but if you can, dedicate half a day to wander a bit. And yes, your shoes will get that Badlands dust on them wear old sneakers if possible.
Wall Drug (Wall, SD)(Family-friendly) After the Badlands (or before, depending on direction), you must stop at Wall Drug in the town of Wall off I-90. It’s the ultimate tourist pit stop an entire city block of kitsch, cafes, and shops that started in 1931 by offering free ice water to travelers. It’s still free and flowing and 5¢ coffee too. Snap a photo on the giant jackalope statue, let the kids splash in the backyard mining water fountain, browse hundreds of quirky souvenirs (from Black Hills gold to jackalope hunting licenses). The doughnuts are legitimately yummy and made fresh (try the maple frosted). There’s a restaurant if you need a full meal think hot roast beef sandwiches, buffalo burgers, etc. It’s kitschy Americana at its finest. Even if you’re not into tourist traps, Wall Drug is a piece of history and silly fun. Plus, after seeing dozens of their bumper stickers and billboards along the highway (“Only 523 miles to Wall Drug!”), you kind of have to go.

Detours & Extensions:

Wind Cave National Park (add 2–3 hours): Just south of Custer State Park lies Wind Cave, one of the world’s longest caves known for its rare boxwork formations. They offer ranger-guided cave tours (from easy walking to more spelunking adventures). The cave is a constant ~54°F a nice break from summer heat. You’ll see honeycomb-like calcite formations on the cave walls that you won’t find hardly anywhere else. On the surface, Wind Cave NP also has wildlife (bison, prairie dogs) and lovely rolling hills. If you have an extra half-day, it’s worth it especially if caverns intrigue you. Try to arrive early for tour tickets; in summer they can sell out by afternoon.
Spearfish Canyon & Deadwood (add 2–3 hours): In the northern Black Hills, Spearfish Canyon is a gorgeous limestone canyon with waterfalls (Bridal Veil Falls is roadside; Spearfish Falls requires a short hike). Great for a scenic drive especially in fall when leaves turn. The old west town of Deadwood is nearby famous for Wild Bill Hickok and Calamity Jane. Today it’s somewhat touristy with casinos, but still has preserved historic charm. You can watch a Main Street shootout reenactment in summer or visit Mount Moriah Cemetery where those legends are buried. Deadwood also offers nightlife if you like a little gambling or saloon atmosphere. It’s a detour northwest of Rapid City (~1 hour), but history buffs might enjoy it.
Devils Tower National Monument (add ~2 hrs for visit, plus drive time): If you’re looping back via Wyoming, you can swing by Devils Tower America’s first national monument. It’s that giant hexagonal-columned monolith from Close Encounters of the Third Kind. Located in NE Wyoming, about 1.5 hours west of Rapid City, it’s an awe-inspiring sight rising out of plains. There’s a 1.3-mile trail around its base (look up to often spot climbers scaling it). Also, prairie dog towns abound near the parking. It adds miles, but if heading back to Denver via I-25, you can make it fit (Devils Tower to Denver is ~6 hrs). Seeing the Tower at sunset or under a big sky is memorable. Just note, it’s a sacred site for many tribes you might see prayer bundles tied to trees. Out of respect, refrain from loud activities or drone usage.

Practical Tips:

Wildlife wisdom: Bison are unpredictable never approach on foot. If they’re blocking the road, be patient, stay in your car, and they’ll move along. Do not honk (it won’t help and could agitate them). In Custer SP or Badlands, you might also encounter bighorn sheep or burros on roads; slow down and enjoy the view. Keep a distance of at least 25 yards from most wildlife, and 100 yards from predators like any possible bears (rare in the Badlands) or mountain lions (very elusive). Basically, use common sense and zoom lenses.
Park fees: The trifecta of this trip Mount Rushmore, Badlands NP, and Wind Cave NP all accept the National Park Annual Pass. Custer State Park and Devils Tower are separate fees (state park and national monument, respectively). If doing multiple, the federal annual pass ($80) might pay off. Also check for military or 4th-grade free passes if applicable.
Roads: The Black Hills have curvy, narrow roads. Iron Mountain Road has pigtail bridges (loops) and tunnels; Needles Highway tunnels are extremely tight. Drive slowly and be courteous many rental RVs or bikers unfamiliar with mountain roads will be about. If you’re in a large RV yourself, plan routes carefully (Needles and Iron Mountain are not recommended for big rigs). Watch for wildlife especially at dawn/dusk. In winter, some scenic roads close; major highways are usually open but can get snow spring and fall storms are possible, so check conditions if traveling off-summer.
Weather: Summer in SD/WY can get hot (90s°F) but also stormy. Thunderstorms roll through and can be severe with hail have a backup indoor plan (museums, caves) for afternoon storms. Conversely, nights can be cool, especially in the hills (pack a light jacket). If camping, prepare for temp swings. Wind is a constant on the prairie; hold onto your hats at overlooks! Also note, the Sturgis Motorcycle Rally (first half of August) greatly increases traffic and congestion in the Black Hills if you’re not part of it, you might find lodging and roads more crowded, and a constant rumble of Harleys. Some love it, some don’t just be aware.
Cultural respect: The Black Hills are sacred to Lakota and other tribes. Crazy Horse Memorial and various sites around (e.g., Bear Butte near Sturgis) carry spiritual significance. Be respectful at monument exhibits and when discussing history. There’s a complex and often tragic Native history in this area (Wounded Knee is further away in SW SD, but you might hear about it). Learning a bit about it (through museum exhibits or ranger talks) will enrich your trip beyond just scenery.