Route Distance: 878 miles
Suggested Time: 5–7 days
Travel Time: 13 hours
Looking to get away from the big city for a little adventure? The Black Hills are calling your name. Deadwood is jam-packed with gaming, Old West history and outdoor fun. So hop in! It’s time to hit the open road. You’ve got a long drive ahead of you – about 13 hours, in fact. Don’t worry — there’s plenty to see and do on your way from Milwaukee to Deadwood. And, don't forget to order your Vacation Guide before hitting the road to discover even more South Dakota adventures!
Drive west on I-94 for a little over an hour. If you have time, stop in Madison to tour the State Capitol Building. If not, keep right at the fork just outside Madison and continue west on to I-90.
Once you cross the Mississippi River and enter Minnesota, you’ll drive another hour to Rochester. Stop here for a bite to eat. At Canadian Honker Restaurant & Lounge, you can fuel up on cheese curds and prime rib before getting back on the road. Interested in exploring a bit? Check out the Quarry Hill Nature Center to see over 30 species of animals native to Minnesota.
South Dakota’s largest city is the perfect place to stop for the night. You’ll probably be pretty hungry by the time you reach Sioux Falls. Grille 26’s (1716 S. Western Ave.) eclectic menu is sure to please any palate with a choice of burgers, pizzas and steaks. This casual eatery also features a full bar and great happy-hour specials.
After dinner, check in to the Hotel on Phillips (100 N Phillips Ave.). This upscale boutique hotel offers 90 spacious guest rooms and suites. Each room features a contemporary design, and many boast scenic views of downtown or the Big Sioux River. You can also grab a beverage creation at the hotel’s Treasury. Most importantly, the pillow-top mattresses with duck feather and down alternative pillows will ensure you a good night’s rest after your long drive.
Wake up and grab breakfast at Phillips Avenue Diner (121 S Philips Ave.). From waffles to breakfast burritos, this local favorite has it all. Wanting to sleep in? No worries. The diner serves breakfast all day and features a pretty stellar lunch and dinner menu too.
Before heading out, visit some of Sioux Falls biggest attractions. Exploring the 123-acre Falls Park (131 E Falls Park Drive) is an absolute must. Watch as 7,400 gallons of water drop over the course of the falls each second. Falls Park also features sculptures, public art and some of the city’s earliest structures.
SculptureWalk, an outdoor art exhibit that features dozens of sculptures from artists around the nation, and the Arc of Dreams, a stainless steel sculpture stretching across the Big Sioux River, have become two of the nation’s most popular public art attractions.
The Sioux Falls area is also home to multiple state parks, including Palisades (25495 485th Ave.), Union Grove (30828 471st Ave.), Newton Hills (28767 482nd Ave.) and Good Earth (48072 270th St.), where you can find outdoor experiences like rock climbing, kayaking and archery trails.
Make time for a pit stop in Wall, where you can visit the world-famous Wall Drug Store (510 Main St.). With thousands of items from toys to Western wear, this iconic roadside attraction helps draw over two million visitors to the city each year.
Before you go, grab a bite from Wall Drug's Western Art Gallery Café. You’ll dine among 300 original oil paintings of Western artwork while enjoying the cafe’s signature hot beef sandwich. Save room for the famous homemade donuts (and maybe grab a few for the road).
Before exploring the city, check in to the Silverado Franklin Historic Hotel & Gaming Complex (709 Main St.). Located on historic Main Street, this Victorian-style landmark puts you in the heart of the city.
If you’d rather be a little closer to nature, try Whitetail Creek Resort (11295 Highway 1A, Lead), Terry Peak Lodge (21117 Stewart Slope Road, Lead) and Ponderosa Pines Inn and Cabins (705 Glendale Drive, Lead).
Looking for some grub? Mustang Sally’s (634 Main St.) has you covered with signature burgers and a dozen cold brews on tap — not to mention billiards, slot machines and your favorite sports playing across 23 TVs. At Pump House at Mind Blown Studio (73 Sherman St.), you can grab a pastry and some coffee before taking in a hot glass demonstration. If you want steak, there’s no better option than Legends Steakhouse (709 Main St.). Located inside Historic Franklin Hotel, this restaurant offers affordable yet delicious steaks like the signature dry-aged, bone-in South Dakota buffalo ribeye.
After your meal, catch a historical re-enactment of the city’s Old West past in Downtown Deadwood. These can’t-miss shootouts are held three times per day throughout the warmer months.
Continue your Old West history lesson at the Adams Museum (54 Sherman St.) to explore the lives of Old West legends like Calamity Jane and Wild Bill Hickok, as well as the vices of Old West-era Deadwood.
Tatanka: Story of the Bison (100 Tatanka Drive) is another must-see attraction. Observe the beautiful bronze sculpture of Native American hunters before visiting the on-site Northern Plains Peoples Educational Interpretive Center.
Learn the history and techniques of Deadwood’s gold mining past at Broken Boot Gold Mine (1200 Pioneer Way). Tour a mine established in 1878 during one of the nation’s last great gold rushes.
