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How to get fromRapid City to Estes Parkby plane, shuttle, bus, taxi, or car

Find Transport to Estes Park

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There are 6 ways to get from Rapid City to Estes Park by plane, shuttle, bus, taxi, or car

Select an option below to see step-by-step directions and to compare ticket prices and travel times in Rome2Rio's travel planner.

  1. Fly Rapid City to Denver, shuttle

    best
    1. Fly from Rapid City (RAP) to Denver (DEN)plane plane RAP - DEN
    2. Take a shuttle bus from Denver International Airport to Estes Park, Coshuttle bus
    5h 37m
    $136–420

  2. Drive 352.4 mi

    cheapest
    1. Drive from Rapid City to Estes Parkcar car 352.4 mi
    7h 25m
    $65–93

  3. Bus, taxi

    1. Take the bus from Rapid City to Buffalobus bus
    2. Take the bus from Buffalo, WY to Casper 144 East A Stbus bus
    3. Take the bus from Casper Amtrak Station to Cheyenne, WYbus bus
    4. Take the bus from Cheyenne to Harmony Transfer Centrebus bus
    5. Take the taxi from Harmony Transfer Centre to Estes Parktaxi taxi
    13h 37m
    $277–365

  4. Fly Rapid City to Cheyenne Airport, drive

    1. Fly from Rapid City (RAP) to Cheyenne Airport (CYS)plane plane RAP - CYS
    2. Drive from Cheyenne-Airport-CYS to Estes Parkcar car
    7h 3m
    $77–359

  5. Bus to Chadron Municipal Airport, fly to Denver, shuttle

    1. Take the bus from Rapid City SD Monument Health Hospital to Chadron NE Chadron Community Hospitalbus bus
    2. Fly from Chadron Municipal Airport (CDR) to Denver (DEN)plane plane CDR - DEN
    3. Take a shuttle bus from Denver International Airport to Estes Park, Coshuttle bus
    7h 30m
    $267–510

  6. Bus to Gillette-Campbell County Airport, fly to Denver, shuttle

    1. Take the bus from Rapid City to Gillettebus bus
    2. Fly from Gillette-Campbell County Airport (GCC) to Denver (DEN)plane plane GCC - DEN
    3. Take a shuttle bus from Denver International Airport to Estes Park, Coshuttle bus
    7h 54m
    $178–486

Rapid City (RAP) to Denver (DEN) flights

Calendar57Weekly Planes
Duration1h 35mAverage Duration
Ticket$51Cheapest Price
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Questions & Answers

Map of how to get from Rapid City to Estes Park.ExpandLaunch map view
  • Distance: 387.2 mi
  • Duration: 5h 37m

What companies run services between Rapid City, SD, USA and Estes Park, CO, USA?

There is no direct connection from Rapid City to Estes Park. However, you can take the bus to Rapid City SD Rapid City Regional Airport, walk to Rapid City (RAP) airport, fly to Denver (DEN), walk to Denver International Airport, then take the shuttle to Estes Park, Co. Alternatively, you can take the bus to Buffalo, walk to Buffalo, WY, take the bus to Casper 144 East A St, walk to Casper Amtrak Station, take the bus to Cheyenne, WY, take the bus to Harmony Transfer Centre, then take the taxi to Estes Park.

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