South Dakota Road Trip from Madison: Mount Rushmore, Badlands, Wall Drug and Custer State Park

Day 1: Travel and Arrival

Madison, WI to Wall Drug, SD on June 17, 2025

8:00am

Breakfast at Marigold Kitchen

Start your day with a hearty breakfast at Marigold Kitchen in Madison, known for its fresh, local ingredients and creative dishes.
USD20, 1h

9:00am

Drive from Madison, WI to Wall, SD

Begin the approximately 10.5-hour drive west towards Wall, South Dakota, breaking the trip with scenic stops as desired. This is the gateway to your South Dakota adventure.
USD0, 10h30m

7:30pm

Dinner at Wall Drug Cafe

Upon arrival, enjoy dinner at Wall Drug Café, famous for its homemade pies and classic American fare, soaking in the quirky historic roadside atmosphere.
USD25, 1h

8:30pm

Check-in at Wall Hotel or Nearby Motel

Rest up at your hotel or motel in Wall, preparing for an exciting exploration of the nearby attractions starting early tomorrow.
USD100, Overnight
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Day 2: Wall Drug & Badlands

Wall, SD and Badlands National Park, SD on June 18, 2025

8:00am

Breakfast at Wall Drug

Enjoy a quick breakfast at Wall Drug, relishing their famous coffee and donuts before heading to the Badlands.
USD10, 45m

9:00am

Wall Drug Store

Explore the iconic Wall Drug Store, renowned for its eclectic gifts, free ice water, and massive outdoor dinosaur exhibits.
Free, 1h

10:30am

Drive to Badlands National Park

A short 30-minute scenic drive takes you to Badlands National Park, famous for its dramatic landscapes and fossil beds.
USD30 per vehicle, 30m

11:00am

Badlands National Park Hiking

Hike one of the popular trails like the Notch Trail or Door Trail to immerse yourself in surreal rock formations and panoramic views.
Included in entrance fee, 3h

2:30pm

Lunch at Cedar Pass Lodge

Enjoy a relaxing lunch at the Cedar Pass Lodge with dishes made from local ingredients, surrounded by beautiful Badlands views.
USD20, 1h

3:30pm

Badlands Scenic Drive

Drive the Badlands Loop Road for spectacular lookout points and unforgettable photo opportunities.
Included in entrance fee, 1h30m

5:30pm

Drive to Rapid City

Head to Rapid City for your overnight stay, approx 1-hour drive west of Badlands National Park.
USD0, 1h

7:00pm

Dinner at Black Hills Burger and Bun Co.

Enjoy gourmet burgers made with local beef and creative sides in Rapid City’s popular casual eatery.
USD25, 1h

8:30pm

Check in Hotel in Rapid City

Relax at a comfortable Rapid City hotel in preparation for the next day's Mount Rushmore and Custer State Park adventures.
USD120, Overnight
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Day 3: Mount Rushmore & Custer

Mount Rushmore and Custer State Park, SD on June 19, 2025

7:30am

Breakfast at Fireside Coffeehouse

Start early with artisan coffee and fresh breakfast fare at Fireside Coffeehouse in Rapid City.
USD15, 45m

8:30am

Drive to Mount Rushmore National Memorial

A short 40-minute drive takes you to Mount Rushmore. Arrive early to beat the crowds and enjoy the iconic monument in cooler morning air.
USD10 per vehicle, 40m

9:15am

Mount Rushmore National Memorial

Explore the visitor center, watch the sculptor films, and walk the Presidential Trail to get close views of the presidential faces sculpted in granite.
Included in parking fee, 2h

11:30am

Drive to Custer State Park

Travel 30 minutes south to Custer State Park, a wildlife-rich area with scenic drives and outdoor activities.
USD20 per vehicle for park entrance, 30m

12:00pm

Lunch at State Game Lodge

Dine at the historic State Game Lodge within the park, featuring hearty American dishes and rustic ambiance.
USD30, 1h

1:00pm

Wildlife Loop Road Drive

Take the Wildlife Loop Road to see bison, prairie dogs, elk, and possibly mountain goats in their natural habitat.
Included in entrance fee, 2h

3:30pm

Check-in Custer Hotel or nearby lodging

Settle into your accommodations in or near Custer for an evening at leisure.
USD120, Overnight

6:30pm

Dinner at Buglin’ Bull Restaurant

Enjoy local South Dakota cuisine with a focus on buffalo dishes and game meat in a cozy setting in Custer town.
USD35, 1h30m
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Day 4: 1880 Train & Return

Custer, SD and return to Madison, WI on June 20, 2025

7:30am

Breakfast at local cafe

Start with a light breakfast at a local café in Custer, preparing for the 1880 Train excursion.
USD15, 45m

9:00am

1880 Train Excursion

Enjoy the historic steam train ride from Hill City through scenic Black Hills, experiencing a nostalgic journey through the countryside. The train operates daily April through October 9 AM to 3 PM.
USD35, 1h30m

11:00am

Return drive to Madison, WI

Start your approximately 11-hour drive back to Madison, reflecting on a memorable South Dakota road trip.
USD0, 11h
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