Three Perfect Days in the Black Hills: A Weekend Itinerary from Denver to Rapid City
- Karen Israel
- Jan 19
- 6 min read
If you love scenic drives, hiking, and wildlife, the Black Hills of South Dakota offer an unforgettable weekend escape. I recently took a trip from Denver to Rapid City that packed stunning landscapes, unique rock formations, and abundant wildlife into just three days. This itinerary balances driving with outdoor adventures, making the most of every hour. Here’s how I spent three perfect days exploring the Black Hills.
Day 1: Denver to Rapid City with a Stop at Devil’s Tower
The journey begins early Friday morning in Denver. The drive to Rapid City is about 6.5 hours without stops, but I recommend breaking it up with a visit to Devil’s Tower National Monument in northeastern Wyoming. This is technically a longer route than driving straight to Rapid City, but I think it is well worth it! This striking monolith rises dramatically from the plains and is sacred to several Native American tribes.
We arrived at Devil’s Tower around midday. The park offers several trails that circle the base, providing close-up views and photo opportunities. We chose to hike both the 2.9 mile Red Beds Trail for further out views of Devil's Tower and the 1.3 mile Tower Trail to see the monument up close. The two hikes combined created a comprehensive experience.
After exploring, we continued the drive to Rapid City, arriving late afternoon. Rapid City is a great base for exploring the Black Hills, with plenty of dining options and comfortable lodging. We grabbed dinner and drinks at Firehouse Brewing before settling in for the night, excited for the adventures ahead.
Day 2: Morning in Badlands National Park and Afternoon in Custer State Park
Saturday started with an hour drive from Rapid City to Badlands National Park. The park’s rugged terrain features sharply eroded buttes, pinnacles, and spires that create a dramatic landscape. We traveled along the Badlands Loop Road, pausing at overlooks such as Pinnacles Overlook and Big Badlands Overlook to enjoy the expansive views. We started at the park's east entrance and headed west, ensuring we finished the drive nearer to Rapid City. The Badlands has an open hike policy meaning you are allowed to hike off-trail anywhere in the park - something I hadn't seen up until this point in a national park.
Door Trail
We completed three short hikes that all started from the same parking lot. The first was the Door trail. The first 1/4 mile is a wheelchair accessible boardwalk leading through a break in the Badlands Wall known as "the Door." From there, the boardwalk ends and it becomes a primitive trail on the Badlands bedrock. Yellow markers help guide you along this part of the trail.
Window Trail
This trail is only 0.3 miles but it provides excellent views of the layered badlands geology.
Notch Trail
This was the main hike I wanted to do in the park. While still a short fairly hike at 1.5 miles round trip, it includes a climb up a ladder and ends with a stunning view of the White River Valley. The trail is moderately challenging but rewarding. Since the park has an open hike policy, we found an offshoot from the trail and wanted to see where it went. It lead to a beautiful overlook of the Badlands and we were able to have this view all to ourselves. Remember to always exercise caution when exploring the park in an open hike situation and keep at least 100 feet away from any wildlife you might encounter.
In the afternoon, we headed to Custer State Park, about an hour and 45 minutes from the Badlands. This park is famous for its scenic drives and wildlife. We first drove the Needles Highway, a 14-mile route known for narrow tunnels and granite spires that look like needles piercing the sky. The road winds through pine forests and offers several pullouts for photos. I drove this route so Justin could take pictures as we went. Some of the tunnels are so narrow, I was convinced there was no way I was getting through with both of my mirrors still attached! Luckily, we completed the drive without any incidents.
We ended the drive at Sullivan Lake. My plan was hike to the top of Black Elk Peak, the highest point in South Dakota, but somewhere along the way we must have made a wrong turn. We ended up instead hiking the Little Devil’s Tower Trail, a 3.8 mile trail that climbs to a viewpoint overlooking the park’s granite formations. Since this wasn't the trail I planned to hike, I hadn't done any research on what to expect. Boy was in for a surprise when we reached the rock scramble portion of the hike! The views of the Cathedral Spires, Black Elk Peak, and the Black Hills made me quickly forget the effort it took to get there though.
We ended our day with a visit to Mt Rushmore. I had been here once, many years ago when my brother was attending college in Rapid City. I can't say I really felt a need to go back but since we were so close, I figured we might as well experience it. While it's technically free to go here, it does cost to park - $10 per vehicle. I would have preferred free parking and an entry fee since we have the America the Beautiful Pass!
Day 3: Wildlife Loop and Wind Cave National Park on the Way Home
We had planned to head straight home Sunday morning but there just wasn't enough time to see everything we wanted to see in Custer in one afternoon! So we decided to switch up the drive a bit and drive the Wildlife Loop Road before continuing on home. This 18-mile drive is designed for spotting animals in their natural habitat. Along the way we spotted prairie dogs, turkeys, pronghorn (even witnessed one chasing a coyote!), and burros. I had read that the burros are so used to being fed that they will lick your car's window if you don't roll it down! While I certainly wouldn't feed them, when we came across a few of them on the drive, I did make sure to roll my window down! Sure enough they came right up to the window to check things out!
What I'd really hoped to see on the drive were some of the nearly 1,300 bison that live in the park. The wildlife loop is one of the best places to spot them. As we were nearing the turn off to leave the loop and start heading south, I was convinced I wasn't going to see any. Suddenly, we turned the corner and there was a whole herd of them, including many young bison!
After the wildlife loop, we drove through Wind Cave National Park on the way back to Denver. Wind Cave is one of the longest caves in the world and features rare boxwork formations inside. I've been wanting to take the cave tour here but they were working on the elevator at this time so we weren't able to go. I guess that just means I have an excuse to go back and explore more of what the Black Hills have to offer! As we were driving through the park, we did have a little bit of traffic. Nope, not the kind your picturing. There was a whole herd of bison casually walking down the road. They were not the least bit concerned that they were in our way! That is the only kind of traffic I want in my life.
Final Thoughts
This three-day itinerary offers a balanced mix of iconic sights and outdoor activities in the Black Hills. From the towering Devil’s Tower to the rugged Badlands and the wildlife-rich Custer State Park, every stop brings something unique. If you’re planning a weekend getaway from Denver, this route delivers stunning scenery and memorable experiences without rushing. You can also fly directly into Rapid City if you live further away or just don't want to drive.
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