10-Day South Dakota Family Road Trip Itinerary: The Ultimate Summer Adventure
There are some family vacations that you enjoy, and then there are the ones your kids will be talking about for years. Our 10-day South Dakota road trip was one of those unforgettable adventures.
Hiking Cathedral Spires Trail
As a family of six with kids ranging from ages 7 to 14, we were amazed by just how much there was to see and do in the Black Hills. From hiking among towering granite spires and spotting buffalo roaming free to exploring caves, and standing beneath the iconic faces of Mount Rushmore, every day brought a new adventure.
TIP: If you have a 4th grader check out the Every Kid Outside Pass which can get your entire family FREE entrance into the National Parks.
Climbing the Ladder at Notch Trail in the Badlands
If you have a week to 10 days, this itinerary is the perfect way to experience the very best of South Dakota. It includes all of the must-see highlights—Custer State Park, Badlands National Park, Wind Cave National Park, Mount Rushmore, Keystone, Hot Springs, Needles Highway, and more—while leaving plenty of time to slow down, explore, and make lasting family memories. Whether your family loves hiking, wildlife, history, or simply spending time together outdoors, this is one summer road trip you'll want to put at the top of your bucket list.
TIP: Involve your children in the planning process if they are old enough. We gave each one of our four children an area to research, which made them more invested in the process.
Quick Glance: Itinerary
Day 1 : Travel Day/ Iowa 80/ Sioux Falls
Day 2 : Badlands National Park/ Mount Rushmore Evening Lighting Ceremony
Day 3: Explore Keystone Attractions
Day 4:Custer State Park- Needles Highway and Cathedral Spires Trail
Day 5: Custer State Park- Wildlife Loop Needles Highway Scenic Drive/ Swim at Sylvan Lake
Day 6: Custer State Park- Hike Sunday Gulch Trail /FIsh & Paddle Board Sylvan Lake
Day 7: Wind Cave National Park & Hot Springs-Evan’s Plunge
Day 8: Conquer Black Elk - tallest point/ Horatio’s Ice cream/ Stargazing
Day 9: Day 9 Deadwood/ Devils Bathtub Hike Spearfish Canyon/ Crazy Horse Monument
Day 10: Drive Home /1880 Town
Below is a detailed itinerary with tips and recommendations to help make your vacation planning easier. We included two travel days, but added fun stops to break up the 14 hour drive. This itinerary could also be adjusted for a 7 day trip, depending on your drive time and how packed you want your days to be with activities.
10-Day Detailed South Dakota Itinerary
Day 1: Travel Day and Sioux Falls
We drove from Michigan to South Dakota, (East to West) which is almost a 14-hour drive from where we live. If you want some fun stops to break up the drive there are several family friendly options. I did a bit of researching before our trip and here were some stop suggestions.
Iowa 80- World’s Largest Truck Stop
Sioux Falls Area, Falls Park and Sculpture Walk
Day 2: Badlands National Park & Mount Rushmore
If you’re able to get there in the morning, you can enjoy the sun rising over Badlands with a cup of coffee. The nice thing about Badlands National Park is that the changing scenery is mesmerizing, so you don’t mind spending time in the car enjoying the winding drive on the Badlands Loop Road.
There are several overlooks to enjoy - make sure to stop, climb out and look around. At one of the many overlooks, we first spotted a large bison and big horn sheep. Also there are dozens of opportunities to spot cute little prairie dogs popping their heads out of burrows. Don’t skip the Visitor Center, where you can see how they excavate fossils from the Badlands and earn a junior ranger badge.
Hikes at the Badlands
The Window Trail, the Door Trail, and the Fossil Trail, are relatively short trails ( less than a half mile)and these shorter hikes can easily be completed with younger children and little ones. If you want a challenge, The Notch Trail was the most thrilling and adventurous hike with a ladder climb and some steep overlooks. During our stay our party split in half for the Saddle Pass Trail hike, my husband and youngest child dropped us off and the rest of our family hiked 2 miles on the trail, then my husband met us at the next pull off to pick us up.
Notch Trail at Badlands, South Dakota
After exploring Badlands, stop at the famous Wall Drug which is adjacent to Badlands National Park. Its an ideal stop to pick out souvenirs and grab some snacks or drinks.
Read More Here: Everything You Need to Know Before Visiting Badlands National Park with Kids
Other Stops Nearby to Check Out:
Dinosaur Park, if you have little ones who love giant dinos.
Prairie Homestead: For fans of the Little House on the Prairie series by Laura Ingalls Wilder, stop and explore a sod home. We listened to the series as audio books on our drive. Need more ideas for family audio books for road trips, check out our list of favorites.
Mount Rushmore
Visit Mount Rushmore after Exploring the Badlands in South Dakota
Mount Rushmore is an essential stop on your Black Hills vacation. After we left the Badlands we headed to Mount Rushmore for the lighting ceremony. This national monument is steeped in history honoring the presidents of the United States.
Bonus it’s FREE to visit Mount Rushmore National Memorial and only $10 for parking.
Hearing about the sculptor, Gutzon Borglum vision, and the hundreds of individuals who worked to create this monumental task was inspiring. If you visit in the evening make sure to do the lighting ceremony, walk presidential trail, explore the information inside.
TIP: Bring binoculars so you can see the intricate details on the monument up close.
Where to Stay: We stayed in a hotel in Rapid City for the night and grabbed dinner. This area could be a base camp, but we only stayed one night because our home base would ultimately be in Custer.
DAY 3: Explore Keystone
Keystone Rush Mountain Adventures Mountain Coaster
Keystone is a great place to stay as a home base or stop by while visiting. Nestled in the Black Hills, it offers a mix of outdoor adventures, family-friendly activities, and local attractions. It can be a bit daunting to narrow down all the touristy attractions to choose from and can quickly become pricey. I’ve included a couple free activities too, as well as brief descriptions of popular spots.
Activities and Attractions in Keystone
Rush Mountain Adventure Park- An adventure park with high ropes, ziplines, mountain coaster and cave tours. Our thrill seeking family rode the mountain coaster down, which was a blast.
Keystone Historical Museum- This free museum features memorable from Laura Ingalls Wilder, specifically the younger sister Carrie Wilder of famous Laura Ingalls Wilder. They have a cute scavenger hunt with a candy treat at the end my children enjoyed.
Shop Downtown Keystone- Walk around downtown for souvenirs, t-shirts, etc. Take an old timey photo or just explore area and try some delicious food.
Big Thunder Gold Mine- Try panning for gold and explore an old mine.
Dahl Chainsaw Art- Enjoy viewing these incredible wooden art pieces. This artsy and free stop is fun for adults and kids as you pose for pictures.
The 1880 Train -This steam-powered train provides a scenic ride between Hill City and Keystone, South Dakota. The steam-powered train runs from Hill City to Keystone which takes 2 hours.
From Keystone we drove to Custer and checked into our VRBO, our home base for the rest of the trip. We chose a VRBO close by in Custer so we could spend the majority of our time in the Black Hills and Custer State Park. The top priorities during our vacation included:
drive the Wildlife Loop
pet wild Burros
see the prairie dogs
drive Needles highway and Needles Eye Tunnel
Hike Cathedral Spires, Sunday Gultch Trail, Elk
Swim or paddleboard in Sylvan Lake, jump off the boulders and take a hike around it
Stop at the Visitors Center - tons of informative exhibits, and activities happening daily from rock climbing to kayaking
Read More Here: Guide to Custer State Park: Best Things to Do with Kids
Bison Calf Nursing on Wildlife Loop
DAY 4: Custer State Park- Needles Highway and Cathedral Spires Trail
Our day started at Custer State Park where we purchased the Custer State Park entrance pass, which is good for 1-7 days.
The best way to see this park’s incredible views is along the scenic Needles Highway which takes you through the Needles Eye Tunnel, by Sylvan Lake and provides several overlooks where you can get out for pictures and to explore. Our kids especially loved taking turns sticking their heads out the sunroof to get a better view, especially through the narrow tunnels.
Our main hike for the day was the Cathedral Spires Trail. This is a great one to combine with the scenic drive since the trailhead is located along the Needles Highway (SD-87), about 2 miles north of Sylvan Lake. Parking is available in a small lot directly at the trailhead, but it fills up quickly during the summer months.
The trail was gorgeous, leading us through towering granite spires and peaceful pine forests. This hike feels straight out of a postcard and you will enjoy breathtaking views. Our kids, who love climbing over rocks and exploring, enjoyed the sense of adventure this hike offers. Plus, the impressive granite formations provide perfect backdrops for family photos.
A frame worthy photo at Cathedral Spires Trail
DAY 5: Custer State Park: Drive Wildlife Loop & Swim at Sylvan Lake
Wildlife Loop
Custer State Park is especially known for its rolling prairies with herds of bison and clear waters of Sylvan Lake- and that was our agenda for the day. We woke up early, ( 7am) which I highly recommend, to drive the 18 Mile Wildlife Loop. There were barely any other vehicles out and the wild animals were quite active. On two separate occasions were surrounded by an entire herd of bison, including up close sightings of a nursing calf. Other memorable sightings included hundreds of burrowing owl, prairie dogs, badger devouring a prairie dog, mule deer, and big horned sheep. Another exciting moment was when we located the wild burros ( they love the shady creek area) and we were able to pet these friendly donkeys.
Along the loop trail, we stopped at the Visitors Center, Bison Center, and Peter Norbeck Outdoor Education Center (where you can sign up for rock climbing, archery gold panning and other educational offerings). The main visitor’s center has a giant interactive map that shows the last known movement and location of bison herds and wild burros, which was extremely helpful.
Cool Off at Sylvan Lake
DAY 6: Custer State Park- Hike Sunday Gulch Trail and Swim & Paddle Board at Sylvan Lake
If you're looking for the perfect mix of adventure and relaxation, this was easily one of our favorite days in the Black Hills. We started the morning with an unforgettable hike on Sunday Gulch Trail, then spent the rest of the afternoon swimming, fishing, cliff jumping, paddle boarding, and soaking up the beauty of Sylvan Lake.
We highly recommend arriving early—especially during the summer months. The parking lot at Sylvan Lake fills up quickly since it's one of Custer State Park's most popular destinations. An early start also lets you enjoy the trail before the crowds and the heat of the day.
Sunday Gulch Trail
Sunday Gulch is one of the most exciting hikes in the Black Hills. Clocking in at 3.5 Mile loop it’s a great one for families. The trail takes about 2-3 hours and winds through a rugged canyon filled with giant granite boulders, wooden staircases, narrow rock passages, and a small creek that flows through the bottom of the gulch.
We recommend hiking the loop clockwise (reverse of what many people do). Saving the boulder scrambling for the end makes for a much more exciting finish, and you'll avoid climbing the steepest rock sections uphill. Our kids loved weaving through the massive granite rocks, climbing the stairways built into the canyon walls, and exploring every twist and turn of the trail.
The hike begins and ends at the stunning Sylvan Lake, which may look familiar if you've seen National Treasure: Book of Secrets—several scenes from the movie were filmed here. This lake is one of the most photographed spots in South Dakota, and once you see it in person, it's easy to understand why.
Cool Off at Sylvan Lake
After finishing the hike, we were hot, sweaty, and more than ready to jump into the lake. Even in June, the water was refreshingly cold, but that didn't stop us! We spent hours swimming, climbing on the giant granite boulders, and jumping into the clear water.
Our daughter rented a paddleboard for an hour, which was a fun way to explore the lake. Looking back, we wished we had packed inflatable paddleboard since we stayed most of the afternoon and could have used it even longer.
Rent Paddleboards at Sylvan Lake
The small sandy beach is perfect for younger kids to splash and play, while the surrounding rocks make for endless exploring and some of the best views in Custer State Park. We also brought a picnic lunch, although there's a convenient camp store near the lake if you'd rather grab something to eat. We couldn't resist trying the ice cream-covered churros, and they absolutely lived up to the hype. They were the perfect sweet treat after a challenging hike.
Before calling it a day, we cast a few fishing lines into the lake and were excited to catch rainbow trout. Between hiking, swimming, fishing, paddle boarding, and relaxing on the rocks, we ended up spending the entire afternoon at Sylvan Lake—and honestly, we could have stayed even longer.
Day 7: Wind Cave National Park, Hot Springs- Evan’s Plunge
Wind Cave National Park
It’s an early start for this packed day. It’s crucial to arrive at Wind Cave National Park before the Visitor Center opens so you can get in line for a cave tour. (The tours typically sells out in the first 2 hours.) Arriving shortly after 7:30 a.m., we had about 50 people ahead of us. The earliest time slot was for 3:30pm so we decided to head to Hot Springs first, before returning for our cave tour.
We purchased tickets for the Fairgrounds Cave Tour, which was recommended for individuals able to do strenuous stairs. For our family, who are active hikers with kids ages 7-14 it was a good option, clocking in at 1.5 hour time frame. Our ranger made the tour both educational and entertaining, sharing fascinating facts about the cave's rare boxwork formations and funny stores about how the cave was first discovered and through the years. We enjoyed walking through the cool underground passages while learning about one of the world's largest boxwork cave systems.
TIP: Bring a long sleeve shirt because the cave stays at 54 degrees.
Another option would be to visit Jewel Cave ( for us one cave tour was satisfactory)
Before heading to Hot Springs, we enjoyed the one mile Rankin Hike at Wind Cave. My flower-loving heart was delighted by so many colorful wild flowers dotting the trail. At the overlook you can see all the way to the Badlands-40 miles away if it’s a clear day.
Hot Springs
Hot Springs is just south of Wind Cave National Park. (20 minute drive) So after hiking we headed to the town of Hot Springs. Our first stop was Evan’s Plunge, a waterpark that is feed by the hot springs. After hiking the last couple days, this spot was a great change of pace with 3 water slides , water volleyball, an indoor and outdoor pool, hot tubs, and saunas. Soaking in the experience, our family spent 3 hours splashing and playing.
Evan’s Plunge- Waterpark fed by Hot Springs
After our fingers and toes were thoroughly pruney, we drove to the Mammoth Site. Unfortunately, time got the best of us and didn’t have enough time because of our cave tour scheduled.
FYI When talking to the staff at Mammoth Site they said plan for a minimum of an hour at Mammoth Site. They have a Jr. Paleontology Program and kids can see the site and learn hands on about fossils.
Other Nearby Options: In Hot Springs, SD there are several options of activities for families or time fillers by grabbing lunch and sit by the river. There are tons of fun murals all over the town you can walk around and spot.
Day 8: Conquer Black Elk Peak, Horatio’s Ice cream & Stargazing
Hiking Black Elk Peak with our four kids was one of the highlights of our South Dakota adventure. The hike took us about 4 hours round trip, and is 7. 4 mile hike, but can add additional miles depending on the route you choose. Plan for 20-30 minutes extra time at the summit, to revel in the beauty and savor a well deserved break for lunch. Breathtaking views stretch for miles from the highest point east of the Rocky Mountains.
Black Elk Peak
While ascending, expect plenty of boulder scrambling along the way, a windy summit (hold onto your hats!), a small pond near the top, and the chance to climb the historic stone fire tower for unforgettable panoramic views.
We celebrated our climb by headed into the town of Custer to see the murals, buffalo sculptures throughout the town, and grab ice cream at Horatio’s.
South Dakota’s expansive clear skies were begging to be enjoyed so we brought blankets and spent the evening stargazing at Custer State Park. The Milky Way, Big and Little Dipper and multiple shooting stars dazzled us.
Read More: Hiking Black Elk Peak with Kids: The Ultimate Family Guide
Day 9: Deadwood & Spearfish Canyon- Waterfall Hikes & Devils Bathtub
Deadwood
Deadwood is a historic Old West town in South Dakota's Black Hills. It’s famous for its Gold Rush history, legendary figures like Wild Bill Hickok and Calamity Jane, and its beautifully preserved Main Street. This is an easy stop on your way to Spearfish Canyon. It will feel like your stepping back in time to a frontier town. You can view live historical reenactments, museums, unique shops, and restaurants. Check ahead of time for the live reenactments which occur throughout the day at specified times.
Bridal Veil in Spearfish Canyon
Spearfish Canyon Waterfalls
Spearfish Canyon is for waterfall enthusiasts! If your family can't get enough of the great outdoors, this would be a great option for you. Enjoy a scenic drive through the canyon with easy pull offs with a viewing platform of cascading Bridal Veil. If you want to feel the spray up close, with just a little rock scrambling and a small creek crossing you can splash in the water.
Roughlock Falls, the 60 foot tall waterfall features a series of cascading drops. Bonus it’s easily accessible with a boardwalk and viewing platforms so everyone can enjoy. Spearfish Creek is a great place to go fishing and Bridal Veil falls is a beautiful sight! Three different waterfalls can be seen in the area. Spearfish Falls, a peaceful waterfall reached by a short 1.5-mile round-trip hike. Whether you're stopping for a quick photo or spending the day exploring, these waterfalls are a must-see on any South Dakota family road trip.
Devil’s Bathtub ends in a slip in slide
Devil’s Bathtub Hike
During our day trip to Spearfish Canyon, our favorite activity was by far the hike to Devil’s Bathtub and the natural slip in slide into the creek at the end.
This scenic out-and-back hike is approximately 2 miles round trip and follows a beautiful creek through a narrow canyon, with several shallow stream crossings along the way. Instead of climbing steep hills, you'll spend much of the hike splashing through the water, making it especially fun on a warm summer day.
TIP: Definitely bring hiking sandals or shoes that can wet and wear your bathing suits since there are dozens of creek crossing.
Other Nearby Options: D.C Booth Historic National Fish Hatchery
Crazy Horse Memorial
On our return trip we decided to squeeze in one more stop at Crazy Horse Monument. The Crazy Horse Memorial is rich in history of the Black Hills and the indigenous tribes. We enjoyed listening to a talented Native American flute player, exploring the museum filled with Native American artifacts, and viewing the impressive mountain carving. Don't skip the short film—it tells the powerful story of sculptor Korczak Ziolkowski's lifelong dedication to the memorial and the vision behind this incredible project, making the experience even more memorable.
Crazy Horse Monument
Day 10: Drive Home, 1880 Town & Stopped for fireworks in Lacrosse
Our final day was driving home with a stop at 1880 Town, where you’ll be transported back in time when you step out of your car and into the Old West. Rent costumes and dress up for some old time photos. If you don’t have time, at least stop to refuel and pet the goats that freely roam as you pump your gas.
1800 Town
Since our family found ourselves driving home on the 4th of July , the last stop on our trip was in Lacrosse to enjoy the fireworks on the river. The spectacular light show was a feast for the eyes and the perfect way to finish our vacation.
Although we had a jam- packed road trip, we still didn’t even scrap the surface of all the amazing things to see and do in South Dakota. Check out the 25 Top Kid-friendly Activities in South Dakota as you begin to plan your epic vacation.
Additional Day Trips If you Have More Time:
Devil's Tower National Monument in Wyoming is an hour and forty-five-minute drive from Rapid City, so this would likely take an entire day of your itinerary. However, this unique rock formation is truly a sight to see.
Final Thoughts
South Dakota is one of those destinations that keeps surprising you around every bend in the road. From watching a herd of bison cross the Wildlife Loop Road and hiking to the top of Black Elk Peak to exploring underground caves, cooling off at Sylvan Lake, and standing beneath Mount Rushmore, it's a trip filled with unforgettable family memories.
Hope this detailed 10-Day South Dakota Family Road Trip Itinerary will help you plan your trip. We’ve shared exactly how to fit in the state's must-see attractions—including Custer State Park, Badlands National Park, Hot Springs, Wind Cave , Spearfish Canyon, Deadwood, scenic drives like Needles Highway, plus our favorite places to stay, family-friendly campgrounds, and practical tips to help you make the most of every day.
Hiking Black Elk Peak with kids? This family guide covers everything you need to know before hitting the trail! Discover trail details, distance, elevation gain, what to expect along the hike, what to pack, the best route, and family-friendly tips for reaching the highest point in South Dakota. From granite rock formations to breathtaking Black Hills views, this is one adventure your family won't forget!