For MEA weekend this year, we decided to rent an RV and explore the fall colors up north. But close to 2nd week of October we realized that the colors were past peak, so we pivoted and started looking at other nearby places that we could go to, during this research process, South Dakota quickly stood out, it was within driving distance, budget-friendly and My daughter was already learning about Mt. Rushmore in school. South Dakota checked all the boxes, so we decided to head west for this trip. Little did I know that this place would just blow us away with amazing abstract landscapes and each spot more amazing than the last.

Here is our 4-day itinerary through South Dakota. I’ve also included optional day trips and add-ons in case you have more time in the area. I would love to go back and experience even more of this stunning region of the country which is so underrated.

If you’re curious about renting an RV, check out my post here for more details.

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South Dakota Road Trip Itinerary Overview

In this section, I’ll share the highlights from our South Dakota road trip. While we drove in from Minneapolis, if you’re flying, I’d recommend booking a flight into Rapid City and base yourself in this city—it’s the ideal point for exploring the area. Here you can find my tips for finding affordable flights for family trips!

Day 1: Minneapolis to Badlands National Park (6-hour drive)

Morning: Travel to Sioux Falls

Start your adventure by hitting the road early. From Minneapolis, drive west toward Sioux Falls, SD.

Hitting the Road

Before you set off, make sure your RV/car is fully stocked with essentials. This includes:

• Plenty of water
• Non-perishable snacks
• First aid kit
• Maps (both digital and physical)
• Emergency toolkit

Checkout my road trip essentials guide.

Lunch Stop: About halfway through your journey, you’ll reach Sioux Falls, South Dakota’s largest city. This is the perfect spot for a midday break. Head to Falls Park, the city’s crown jewel, where you can stretch your legs and admire the cascading waterfalls of the Big Sioux River. The park offers ample parking for RVs, making it an ideal stop. Enjoy lunch at the Falls Overlook Cafe and let the kids run some energy out in the park.

Evening: Arrival at Badlands National Park

Check into Badlands National Park and park your RV at Cedar Pass Campground or Badlands/White River KOA. Both offer stunning views, with easy access to scenic overlooks. If you have time, take a sunset drive along Badlands Loop Road for unforgettable views.

Tip: As night falls, gaze outside at the star-filled sky. The Badlands’ dark skies offer incredible stargazing opportunities, so don’t forget to pack a pair of binoculars or a small telescope if you have one.

Day 2: Badlands National Park and Wall Drug

Morning: Wildlife Loop Road and Begging Burros

Start your day early with a drive along the Wildlife Loop Road in Custer State Park. This 18-mile scenic drive offers some of the best wildlife viewing opportunities in the park. Drive slowly and be prepared to stop often – you never know when a herd of bison might decide to cross the road!

One of the highlights of the Wildlife Loop Road is an encounter with the “begging burros.” These feral donkeys, descendants of pack animals once used for treks to Harney Peak, are known for approaching vehicles in search of treats. While it’s fun to interact with these charismatic animals, remember feeding wildlife is not allowed.

Late Morning: Crazy Horse Memorial

Drive to Crazy Horse Memorial, tour the Visitor Center and Indian Museum of North America, and learn about the ongoing carving project. This massive mountain carving pays tribute to the legendary Lakota leader Crazy Horse. 

Early Afternoon: Mount Rushmore National Memorial

As you approach the monument, the massive carved faces of Washington, Jefferson, Roosevelt, and Lincoln come into view, an awe-inspiring sight that never fails to impress, no matter how many times you’ve seen it in pictures.

Start your visit at the Lincoln Borglum Visitor Center, where you can learn about the history and creation of the monument through exhibits and a short film. Then, take a stroll along the Presidential Trail, a half-mile loop that offers close-up views of the sculpture and information about each president depicted.

Don’t miss the Sculptor’s Studio, where you can see some of Gutzon Borglum’s original models and tools used in the creation of Mount Rushmore.

Tip: If you’re visiting with kids, pick up Junior Ranger booklets at the Information Center – these are fun to complete and an educational way for kids to engage with the site.

Late Afternoon: Sylvan Lake and Needles Highway

As the day progresses, make your way to Sylvan Lake, often called the “crown jewel” of Custer State Park. This picturesque lake, surrounded by granite spires, offers a perfect spot for a late afternoon break. Take a stroll around the lake on the easy 1-mile shore trail, or if time permits, rent a kayak or paddleboat for a serene paddle on the crystal-clear waters.

From Sylvan Lake, embark on one of the most scenic drives in the country – the Needles Highway. This 14-mile stretch of road winds its way through pine and spruce forests, meadows, and granite formations. The road includes several narrow tunnels carved through the rock, including the famous Needle’s Eye Tunnel. Take your time on this drive, stopping at pullouts to admire the views and capture photos of the unique rock formations.

Evening: RV Camping near Mount Rushmore

For your overnight stay, consider setting up camp at the Mount Rushmore KOA Resort at Palmer Gulch Resort.

Day 4: Subterranean Wonders and Farewell to the Black Hills

On your final day, prepare to venture beneath the surface of the Black Hills to explore some of the area’s fascinating cave systems. 

Morning: Wind Cave National Park

Start your day with a visit to Wind Cave National Park, home to one of the world’s longest and most complex cave systems. Make sure to arrive early to secure spots on one of the ranger-led cave tours. The Natural Entrance Tour offers a moderate 1.25-hour journey through the cave’s unique boxwork formations. The girls loved it and thought it was one of the coolest things, so I highly recommend adding the cave tour to your itinerary.

Note: Backpacks of any kind or baby carriers are not allowed inside the cave tour, if you are doing the tour with a baby or toddler, you will have to carry them the entire time and it’s a lot of stairs.

Before or after your tour, take some time to explore the park’s surface features. The mixed-grass prairie above the cave system is home to bison, elk, and prairie dogs. 

If you are up for a hike, the Rankin Ridge Nature Trail is a short but steep hike to a fire tower and offers sweeping views of the Black Hills.

Afternoon: Jewel Cave National Monument

After lunch, make your way to Jewel Cave National Monument, about an hour’s drive from Wind Cave. Jewel Cave is the third-longest cave in the world, with over 208 miles of mapped passages. Take the Scenic Tour, which descends 234 feet underground and showcases the cave’s beautiful calcite crystals, known as “cave bacon” and “dog tooth spar.”

Evening: Farewell Dinner and Sunset

For your final evening, treat yourself to a farewell dinner at Buglin’ Bull Restaurant & Sports Bar.

After dinner, find a spot to watch your final South Dakota sunset. The Rankin Ridge Lookout in Wind Cave National Park or the top of Skyline Drive in Rapid City both offer stunning views of the sun setting over the Black Hills.

RV Camping Options

For your final night, you have several options depending on your plans for the next day:

1. If you’re heading east, consider staying at the Badlands/White River KOA near Interior, positioning you for an early start through Badlands National Park.
2. If you’re continuing west, the Hot Springs KOA is a good option, offering full hookups and a convenient location for exploring more of the Black Hills.
3. If you have an early flight from Rapid City, the Rapid City KOA Journey puts you close to the airport while still offering a camping experience.

As you settle in for your last night, take a moment to reflect on the incredible journey you’ve had through South Dakota’s Black Hills and Badlands. From the otherworldly landscapes of Badlands National Park to the iconic faces of Mount Rushmore, from the wildlife of Custer State Park to the subterranean wonders of Wind and Jewel Caves, you’ve experienced a diverse array of natural and man-made marvels.

Day 5: Travel Day or Plan An Additional Day

We started driving back home early morning but If you’re fortunate enough to have an extra day in your South Dakota adventure, here are some fantastic options to consider:

Option 1: Spearfish Canyon and Deadwood

Head north to explore the stunning Spearfish Canyon Scenic Byway, a 19-mile drive through towering limestone pines and past cascading waterfalls. Stop at Bridal Veil Falls and Roughlock Falls for short hikes and photo opportunities.

Afterward, visit the historic town of Deadwood, famous for its Wild West history. Take a walking tour of the town, visit Mount Moriah Cemetery where Wild Bill Hickok and Calamity Jane are buried, or try your luck at one of the town’s casinos.

Option 2: Hot Springs and Mammoth Site

If you opt for Hot Springs, consider a visit to the Mammoth Site, where you can see the remains of Colombian and woolly mammoths that were trapped in a sinkhole thousands of years ago. The site offers fascinating insights into prehistoric life in the region. Great for kids and curious minds of all ages.

Option 3: Delta-01 Missile Center (Minuteman Missile National Historic Site)

Near Badlands National Park, this historic site offers a glimpse into Cold War history. You can tour the Delta-01 Launch Control Facility to see where Air Force personnel monitored nuclear missiles and visit the Delta-09 Silo to view a preserved missile in its underground silo. Perfect for history buffs and those interested in military technology.

This 4-day itinerary offers a taste of the best that South Dakota has to offer, but there’s always more to explore. Whether you’re planning your first visit or returning for more, the Black Hills and Badlands of South Dakota promise adventure, natural beauty, and unforgettable experiences for travelers of all ages. So pack up your home-on-wheels, hit the open road, and get ready for your own South Dakota odyssey. The wonders of the Mount Rushmore State await!