Estimated reading time: 20 minutes

In July of 2021, our family embarked on an epic adventure through the American West that included various parts of Colorado, South Dakota, Wyoming, Montana and Utah. I was jobless, by choice, for the first time in a decade, and we wanted to experience parts of the country we had never visited before. While having no income, we also had 3 young children under the age of 5 and took our trip in the middle of a global pandemic. I say this as an encouragement that if we can do it, you can to. Of all the stops we made along the way, South Dakota was far and away my favorite place we visited by a long shot. I want to provide a simple 5 day itinerary for traveling through South Dakota. 

What made South Dakota so memorable for us? Maybe it was the amazing RV campground we inhabited for 5 nights in Custer. Or maybe it was our day trip to Badlands National Park. Maybe it was Mount Rushmore, Deadwood and Sturgis. It was all of it! South Dakota provided so many experiences for our family that I could write an entire book on the state. 

From historical sites to amazing landscapes to incredible RV camping spots, South Dakota simply has a little bit of everything for the entire to experience.

A Short History of South Dakota

Nestled in the heart of the American Midwest, South Dakota boasts a rich tapestry of history that stretches back millennia. Before European settlers arrived, indigenous tribes such as the Lakota, Dakota, and Nakota people thrived in the region, leaving behind a legacy of cultural traditions and spiritual significance. In the 18th century, French fur trappers and traders ventured into the area, followed by explorers like Lewis and Clark, who charted the territory in the early 1800s. 

The state’s history took a pivotal turn with the discovery of gold in the Black Hills in the late 19th century, sparking a rush of prospectors and settlers to the area. This rush also led to conflicts with Native American tribes, culminating in events such as the Battle of Little Bighorn and the Wounded Knee Massacre. Despite these tumultuous times, South Dakota eventually joined the Union in 1889 as the 40th state. Today, the state’s history is celebrated through its numerous museums, historic sites, and cultural events, offering visitors a glimpse into its fascinating past while exploring its scenic landscapes and vibrant communities.

Why We Loved South Dakota

When we began out trip, we had no idea what South Dakota had to offer. I had done months of research, yet I really didn’t know much about the state. South Dakota is one of the least populated states in the entire United States. I wondered why so many people called this a great place for a family vacation. During the busy summer months, South Dakota seemed to be a haven for tourists, yet I didn’t know why. Ultimately, we discovered through out South Dakota itinerary, that South Dakota was one of the best places to enjoy for so many reasons. 

First of all, the natural wonder of places like Badlands and Custer State Park are simply mesmerizing. Pair that with beautiful views and short drives, and you have all the makings of a fantastic road trip. 

From the history of Native Americans in the area to the souvenir shops in each small town, we discovered that South Dakota was not a hidden treasure. South Dakota is simply a well-known treasure we had yet to experience. 

5 Day Itinerary For Visiting South Dakota

Day 1: Rapid City and the Black Hills

Begin your adventure in Rapid City, a gateway to the stunning Black Hills region. But before delving into outdoor activities, let’s touch on the history of this vibrant state.

South Dakota’s history is rich with Native American culture. The region was originally inhabited by various indigenous tribes, including the Lakota Sioux, Cheyenne, and Crow. The arrival of European settlers in the 19th century led to conflicts and the eventual displacement of many Native American communities.

One of the most iconic landmarks in South Dakota is Mount Rushmore National Memorial, located near Rapid City. Carved into the granite face of the mountain are the likenesses of four U.S. presidents: George Washington, Thomas Jefferson, Theodore Roosevelt, and Abraham Lincoln. This monumental sculpture serves as a reminder of America’s history and the people who shaped it.

On the day we visited Mt. Rushmore, the skies turned from a dark and dreary gray filled with rain to a bright, sunny day in a matter of moments. This provided an epic experience for our family to truly enjoy the magnificence of such a brilliant masterpiece. While in Rapid City, enjoy the most common attractions such as Bear Country USA, Reptile Gardens and Storybook Island. 

As a sucker for quaint downtowns, Rapid City has a fantastic downtown tourist area consisting of fantastic food options like Everest Cuisine, Kathmandu Bistro and Independent Ale House. 

The Black Hills

Jewel Cave National Monument: Discover one of the longest cave systems in the world at Jewel Cave National Monument. Guided tours lead visitors through stunning underground chambers adorned with calcite crystals and intricate formations. Above ground, visitors can explore hiking trails and enjoy scenic views of the Black Hills.

Wind Cave National Park: Another spectacular cave system, Wind Cave National Park boasts unique geological features, including boxwork formations and rare calcite crystals known as “frostwork.” Guided cave tours offer insights into the cave’s formation and history, while above-ground activities include hiking, wildlife viewing, and scenic drives.

The Black Hills of South Dakota provide ample RV campground experiences for all sorts of travelers. We found a fantastic spot at the Beaver Lake Campground, only 3.6 miles from Custer, SD. Not only did we enjoy their pool and waterslide, we got to me a Super Bowl winner and share stories around a campfire with a really neat family from Nebraska. 

Crazy Horse Memorial

If you haven’t already seen enough, head on to Crazy Horse Memorial just up Highway 385. This massive sculpture, still in progress, honors the legendary Lakota leader Crazy Horse. Carved into Thunderhead Mountain, the memorial aims to preserve Native American culture and history. Visitors can learn about the project’s significance at the visitor center and witness ongoing work on the sculpture.

During our scenic tour of Crazy Horse, we got to witness workers that have continuously worked on the site for decades. While this is certainly a popular spot for tourists, the memorial serves as a landmark for the Native Americans that made their homes in the plains of the Dakotas. 

Day 2: Badlands National Park

On day two, venture eastward to Badlands National Park, a surreal landscape of rugged canyons, towering spires, and otherworldly rock formations. But before exploring this geological wonder, let’s delve into the history of the Badlands.

The Badlands have a long history of human habitation, dating back thousands of years. Native American tribes such as the Lakota have called this area home for generations, leaving behind evidence of their presence in the form of petroglyphs and other artifacts.

During the 19th century, European settlers began to explore and settle in the Badlands, drawn by the promise of fertile land and abundant resources. However, the harsh environment proved challenging, leading many settlers to abandon their homesteads.

Today, Badlands National Park is a haven for outdoor enthusiasts, offering hiking, camping, and wildlife viewing opportunities. Explore the park’s otherworldly landscapes, and don’t forget to keep an eye out for bison, bighorn sheep, and other native wildlife. This is one of those national parks that just doesn’t seem real as you can from the picture below. 

Wall, South Dakota

Maybe it’s not necessarily consider a hole in the “wall”, but Wall, South Dakota has a drug store you have to see. No, really. Wall Drug Store’s allure as a tourist attraction lies in its captivating blend of nostalgia, hospitality, and quirky charm. What started as a humble pharmacy in the 1930s has blossomed into a sprawling complex featuring shops, restaurants, museums, and whimsical attractions. Visitors are drawn in by the promise of free ice water and 5-cent coffee, but they stay for the unique experience that awaits them. 

From towering fiberglass dinosaurs to animatronic singing cowboys, every corner of Wall Drug offers something unexpected and delightful. It’s a place where travelers can step back in time, immerse themselves in the spirit of the Old West, and create memories that will last a lifetime. Whether you’re seeking out a tasty homemade donut, browsing for souvenirs in the shops, or simply soaking in the quirky ambiance, Wall Drug is sure to leave a lasting impression on anyone who passes through its doors. I would be completely remiss to mention that you absolutely have to try their huckleberry ice cream and donuts.

Day 3: Custer State Park and the Needles Highway

On day three, make your way to Custer State Park, a sprawling nature reserve known for its stunning scenery and diverse wildlife. But first, let’s uncover the history of this beloved park.

Custer State Park was established in 1912 and named after General George Armstrong Custer, who led an expedition into the Black Hills in 1874. Spanning 71,000 acres, Custer State Park is home to diverse wildlife, stunning scenery, and numerous outdoor recreational opportunities. Highlights include the scenic Needles Highway, Sylvan Lake, and the famous Wildlife Loop Road, where visitors can spot bison, elk, bighorn sheep, and more.

One of the highlights of Custer State Park is the Needles Highway, a scenic drive that winds its way through towering granite spires and narrow tunnels. Built in the early 20th century, this engineering marvel offers breathtaking views of the surrounding landscape.

Custer, South Dakota

After spending some time at the state park, head on over to the city of Custer and grab a meal at Skogen Kitchen, routinely rated as “the best restaurant in the state”. Wildlife Loop Road and Sylvan Lake provide a serene and peaceful experience for those looking for more scenery. If you’re in need of a place to stay for the night, try out the Bavarian Inn for rates starting at $119 per night. 

A Brief History of Custer

Custer, South Dakota, nestled in the heart of the Black Hills, holds a captivating history that reflects the spirit of the American West. Named after the famous Civil War general, George Armstrong Custer, the town emerged as a hub for gold prospectors during the late 19th century Black Hills Gold Rush. However, it was the discovery of gold in nearby French Creek that truly put Custer on the map. 

Throughout its history, Custer has witnessed the ebb and flow of settlers, miners, and indigenous peoples, contributing to its diverse cultural heritage. Today, visitors can explore the town’s rich history through its charming Main Street, lined with historic buildings and quaint shops, as well as nearby attractions such as Custer State Park and the iconic Crazy Horse Memorial. Custer serves as a gateway to the wonders of the Black Hills, offering travelers a chance to immerse themselves in the storied past of the American frontier while experiencing its natural beauty firsthand.

Hill City

I have to admit, we didn’t get to spend enough time in Hill City during our visit. Next time, we won’t make the same mistake. Nestled in the heart of the Black Hills, Hill City offers a charming blend of natural beauty, outdoor adventures, and cultural experiences. Here are some of the best things to do in Hill City.

• 1880 Train: Step back in time aboard the historic 1880 Train, also known as the Black Hills Central Railroad. This vintage steam train takes passengers on a scenic journey through the Black Hills, offering stunning views of the landscape along the way.
• Mount Rushmore Brewing Company: Sample locally crafted beers at the Mount Rushmore Brewing Company, located in the heart of Hill City. Relax on the outdoor patio and enjoy a cold brew while taking in views of the surrounding hills.
• Prairie Berry Winery: Indulge in wine tasting at Prairie Berry Winery, where you can sample a variety of award-winning wines made from locally grown fruits. Be sure to try their famous Red Ass Rhubarb wine.
• Slate Creek Distillery: Experience the art of craft distilling at Slate Creek Distillery, where you can tour the facility and sample small-batch spirits made from locally sourced ingredients.

Whether you’re a history buff, outdoor enthusiast, or simply seeking a relaxing getaway, Hill City offers something for everyone to enjoy amidst the stunning backdrop of the Black Hills. Having experienced the 1880 Train firsthand, I can absolutely say that your kids will love every minute of it. 

Day 4: Spearfish Canyon and Historic Deadwood

On day four, explore Spearfish Canyon, a hidden gem nestled in the northern Black Hills. But before embarking on your adventure, let’s uncover the history of this picturesque canyon.

Spearfish Canyon is believed to have been formed millions of years ago by the erosion of ancient rock formations. Native American tribes such as the Lakota revered this sacred landscape, which they believed was inhabited by powerful spirits. During the late 19th century, gold prospectors flocked to Spearfish Canyon in search of riches, leading to the establishment of several mining camps and settlements. Although the gold rush eventually waned, the canyon’s natural beauty continued to attract visitors from far and wide.

Today, Spearfish Canyon is a haven for outdoor enthusiasts, offering hiking, fishing, and wildlife viewing opportunities. Explore the canyon’s lush forests and cascading waterfalls, and don’t forget to keep an eye out for bald eagles, deer, and other native wildlife.

Deadwood

Deadwood is a haven for wild west history buffs like myself. This is the perfect place to experience the wild west in all its glory. Deadwood beckons visitors with its rich history, Wild West charm, and vibrant atmosphere. Deadwood offers a captivating blend of Old West nostalgia and modern-day excitement. From its infamous past as a gold rush boomtown to its present-day attractions, Deadwood invites travelers to step back in time and experience the spirit of the frontier. Explore historic Main Street, lined with 19th-century buildings housing casinos, saloons, and museums that offer a glimpse into the town’s storied past. 

Immerse yourself in the legends of Wild Bill Hickok and Calamity Jane at the Mount Moriah Cemetery, where these iconic figures are laid to rest. Whether you’re drawn to the thrill of gaming, the allure of live entertainment, or the natural beauty of the surrounding Black Hills, Deadwood offers a one-of-a-kind destination that promises excitement, adventure, and a touch of Wild West mystique.

Wild Bill Hickock

Wild Bill Hickok was a legendary figure renowned for his prowess as a gunslinger and lawman in the American West. Hickok gained notoriety for his quick draw and sharpshooting skills, making him a prominent figure during the Wild West era. Tourists flock to Deadwood to immerse themselves in the lore surrounding Hickok, visiting attractions such as the Wild Bill Hickok Memorial, which marks the spot where he was fatally shot during a poker game at Saloon No. 10. Additionally, visitors can explore the streets where Hickok once roamed and soak in the rich history of this vibrant frontier town, making it a must-see destination for history buffs and Wild West enthusiasts alike.

Mount Moriah Cemetery

Call me weird, but there is something serene about old, historic cemeteries. Mount Moriah is one for the ages. Literally. Wild Bill and Calamity Jane are buried at Mount Moriah. However, it was the graves of children from the late 1800’s that truly made my emotions tug a little bit. As we walked up and down the steep walkways, we couldn’t help but wonder about the stories of all the men and women buried at this historic, yet beautiful cemetery. As we made our way up the parking lot, there was an eerie calm that came over us. The stories moved us to a place of wonder.

Day 5: Sioux Falls and Palisades State Park

On the final day of your adventure, make your way to Sioux Falls, South Dakota’s largest city, located in the southeastern part of the state. But before exploring the city’s attractions, let’s delve into its history.

Sioux Falls was founded in 1856 on the banks of the Big Sioux River, named after the indigenous Sioux tribe that once inhabited the area. The city grew rapidly in the late 19th and early 20th centuries, thanks to its strategic location as a transportation hub and its abundant natural resources.

Today, Sioux Falls is known for its vibrant cultural scene, diverse dining options, and thriving downtown area. Explore attractions such as Falls Park, where you can admire the city’s namesake waterfall, and the SculptureWalk, featuring works of art by local and national artists.

After exploring Sioux Falls, make your way to Palisades State Park, located just a short drive outside the city. This scenic park is known for its striking rock formations, rugged cliffs, and meandering creek. Spend your final day hiking, rock climbing, or simply soaking in the natural beauty of this hidden gem.

With its rich history, stunning landscapes, and endless outdoor adventures, South Dakota offers something for every member of the family. So pack your bags and get ready for the ultimate adventure in the Mount Rushmore State!

Conclusion

Your South Dakota road trip itinerary can include several other options like a cave tour, Devils Tower National Monument and the minuteman missile national historic site. To see everything that South Dakota has to offer will take weeks. However, the best way to enjoy your time in the state is to give as much time as possible to the major tourist attractions along the way. 

The best time to visit is certainly during the summer when the temperatures are pleasant. Fortunately, most sites are just an hour drive from wherever you are staying. Whether it’s your first day or your last day, there are numerous fun activities and fun places to entertain the family. While the main attractions may be tourist heavy, you can have a great time as a family walking through any gift shop in the numerous small towns South Dakota has to offer. 

A Plug For Beaver Lake Camprgound

I can’t possibly say enough about our experience at Beaver Lake Campground. This was the first stop on our journey through South Dakota and it was incredible. The spot we reserved situated us between huge pine trees that provided needed shade during the hot summer days. Further, we spent plenty of time swimming in the pool and playing basketball to pass the extra time we had. 

In case you’re wondering if there is Wifi, yes there is. However, we committed to spending our entire time in South Dakota enjoying time with family. We made smores by the firepit and let the kids run around with the other kids at the playground right in front of our campsite. 

What made our experience unique was the copious amounts of families that we were surrounded by. We truly built a community during our short time at the campground. If you’re looking for a campground, Beaver Lake is a great choice for your family.

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