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Family-Friendly South Dakota Road Trip from Denver, Colorado on a Shoestring Budget

Viewed by 101 travelers

Day 1: Exploring Rapid City

Rapid City, South Dakota

8:00AM

Breakfast at Tally's Silver Spoon

Start your journey with a hearty breakfast at Tally's Silver Spoon in Rapid City, known for its delicious and affordable meals.
Drive to Tally's Silver Spoon located at 530 6th St, Rapid City, SD 57701.
$10, 1 hour

10:00AM

Visit Reptile Gardens

Explore the world of reptiles at Reptile Gardens, a fun and educational experience for the family.
Drive to Reptile Gardens located at 8955 US-16, Rapid City, SD 57702.
$15, 2 hours

1:00PM

Lunch at Firehouse Brewing Company

Enjoy a delicious and budget-friendly lunch at Firehouse Brewing Company, a historic brewery in Rapid City.
Head to Firehouse Brewing Company located at 610 Main St, Rapid City, SD 57701.
$12, 1 hour

3:00PM

Explore Main Street Square

Stroll around Main Street Square, shop for souvenirs, and relax by the fountains in Rapid City.
Walk to Main Street Square located at 512 Main St, Rapid City, SD 57701.
Free, 1-2 hours

6:00PM

Dinner at Sickies Garage

End the day with a fun dinner at Sickies Garage, known for its variety of burgers and lively atmosphere.
Drive to Sickies Garage located at 3313 E Mall Dr, Rapid City, SD 57701.
$8, 1 hour
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Day 2: Mount Rushmore Adventure

Mount Rushmore, South Dakota

9:00AM

Breakfast at Powder House Lodge

Start the day with a hearty breakfast at Powder House Lodge near Mount Rushmore.
Drive to Powder House Lodge located at 24125 US-16, Keystone, SD 57751.
$12, 1 hour

10:00AM

Visit Mount Rushmore National Memorial

Marvel at the iconic Mount Rushmore National Memorial and learn about its history.
Drive to Mount Rushmore National Memorial located at 13000 SD-244, Keystone, SD 57751.
$10 (parking fee), 2-3 hours

1:00PM

Picnic at Mount Rushmore Picnic Area

Have a relaxing picnic at the Mount Rushmore Picnic Area while enjoying the views.
Head to Mount Rushmore Picnic Area within the memorial grounds.
BYO, 1 hour

3:00PM

Explore Presidential Trail

Walk the Presidential Trail for a closer look at the sculptures of the presidents.
Follow signs within Mount Rushmore for the Presidential Trail.
Free, 1 hour

6:00PM

Dinner at Ruby House Restaurant

Enjoy a satisfying dinner at Ruby House Restaurant in Hill City.
Drive to Ruby House Restaurant located at 126 Winter St, Hill City, SD 57745.
$15, 1 hour
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Day 3: Exploring Badlands National Park

Badlands National Park, South Dakota

8:00AM

Breakfast at Cedar Pass Restaurant

Start the day with a simple breakfast at Cedar Pass Restaurant near Badlands National Park.
Head to Cedar Pass Restaurant located at 20681 SD-240, Interior, SD 57750.
$8, 1 hour

9:00AM

Scenic Loop Drive

Take a scenic drive through Badlands National Park to admire its unique rock formations.
Start the Scenic Loop Drive from the park's visitor center.
$20 (park entrance fee), 2-3 hours

12:00PM

Lunch at Interior Coffee Shop

Grab a quick and affordable lunch at Interior Coffee Shop in Interior.
Head to Interior Coffee Shop located at 130 N SD Highway 377, Interior, SD 57750.
$10, 1 hour

2:00PM

Hike the Door Trail

Embark on an easy hike along the Door Trail to enjoy panoramic views of the Badlands.
Start the Door Trail hike from the Door Trail Parking Lot.
Free, 1-2 hours

5:00PM

Dinner at Wall Drug Store

Experience a quirky dining adventure at the historic Wall Drug Store.
Drive to Wall Drug Store located at 510 Main St, Wall, SD 57790.
$5, 1 hour
Find Hotels in Badlands National Park

Day 4: Discovering Sioux Falls

Sioux Falls, South Dakota

9:00AM

Breakfast at Josiah's Coffeehouse, Café & Bakery

Enjoy a delicious breakfast at Josiah's Coffeehouse, Café & Bakery in Sioux Falls.
Head to Josiah's Coffeehouse, Café & Bakery located at 104 W 12th St, Sioux Falls, SD 57104.
$10, 1 hour

10:00AM

Explore Falls Park

Visit Falls Park for picturesque waterfalls and a leisurely nature walk in Sioux Falls.
Walk to Falls Park located at 131 E Falls Park Dr, Sioux Falls, SD 57104.
Free, 1-2 hours

1:00PM

Lunch at Sanaa's 8th Street Gourmet

Savor a flavorful lunch at Sanaa's 8th Street Gourmet in Sioux Falls.
Head to Sanaa's 8th Street Gourmet located at 401 E 8th St #100, Sioux Falls, SD 57103.
$12, 1 hour

3:00PM

Visit the Great Plains Zoo

Explore the diverse wildlife at the Great Plains Zoo for an educational adventure in Sioux Falls.
Drive to the Great Plains Zoo located at 805 S Kiwanis Ave, Sioux Falls, SD 57104.
$15, 2 hours

6:00PM

Dinner at Jacky's Restaurant

End your South Dakota road trip with a satisfying dinner at Jacky's Restaurant in Sioux Falls.
Head to Jacky's Restaurant located at 702 E 8th St, Sioux Falls, SD 57103.
$10, 1 hour
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More About South Dakota

Trip Packing List: Rapid City, South Dakota — May 1–6, 2026
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Grand Teton → Yellowstone → Custer State Park Road Trip
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