I grew up in Rapid City, the gateway to the Black Hills of South Dakota. Looking back, I didn’t fully appreciate the amazing natural beauty of the Black Hills or the many activities that are available there. But now that I’m back, I’m grateful for all the National Parks, State Parks, National Forests, Grasslands, lakes, and recreational areas that are just a short drive from Rapid City. There’s so much to see and do, and it’s all right here at our fingertips!
You could spend weeks, or in my case years, in the area and still have plenty left to explore! With this itinerary you will visit the best-known locations of the Black Hills, and of course, a few gems that only a local would know!
Several places could be your home base for your Black Hills excursion. Rapid City is the largest town in the area and has the most options for lodging. Staying near Custer or Hill City will shorten your driving times, though they are smaller towns with fewer lodging options. I recommend a cabin near Custer to enjoy evenings in the Hills. If car camping is more your vibe, check out my post on Car Camping Must Haves!
Black Hills Itinerary
Day One
Morning
Your first stop is to visit Rapid City’s historic downtown. Rapid City is known as the City of Presidents because on each corner downtown you will find a statue of all the Presidents of the United States. There are several restaurants with pet-friendly patios, a local favorite for brunch is Tally’s Silver Spoon. After enjoying a bite to eat head across the street to Art Alley, located between Sixth and Seventh Streets. Stop at my favorite place to get dessert, Armadillos Ice Cream Shoppe. Dogs are welcome on their patio area, and they have an outdoor window to order. Strawberry Butter is my favorite flavor of the day, but you can’t go wrong with whatever you decide on!
Before leaving town, take a drive along Skyline Drive. This short drive provides picturesque city views and allows for a visit to Dinosaur Park. Dogs on leashes can go up and see the giant concrete dinosaurs built in the 1930s.
Afternoon
Drive to Keystone, South Dakota. This historic town has lots of shops and restaurants. Make your way to the iconic Mount Rushmore, just a few miles along the highway from Keystone. Mt. Rushmore does have firm dog policies; dogs are only permitted in the parking areas and not past the main pergola. The monument can be viewed from the highway, avoiding fees and strict dog regulations.
Evening
Heading back towards Keystone turn on Iron Mountain Road, also known as 16A, to head to your lodging in Custer. This winding road is known to locals as “the pigtails” due to the many curves, switchbacks, and pigtails. Along this winding road, you’ll find several tunnels that frame Mt. Rushmore. Allow yourself to slow down and enjoy the journey along this serpentine road.
Day Two
Morning
Start your day with a visit to Custer State Park. Check with the rangers to find out where the buffalo herd has been spotted. Driving the wildlife loop provides access to many popular areas in the State Park, and often the herd can be found a little way off the loop. If your visit is in the early spring, you will see the new bison babies, also known as cinnamon calves.
Check AllTrails for a hike that will be best for you and your pup. There are multiple easy and moderate hikes off the wildlife loop. Stop at the Mt. Coolidge Fire Tower for amazing views of the Hills in all directions.
Afternoon
Head to Crazy Horse Memorial, the World’s Largest Mountain Carving in progress. Dogs are not permitted in the museum but are welcome in the outdoor areas of the memorial. The Laughing Water Restaurant and Snack Shop are located on the Crazy Horse Campus, but pets are not permitted in this area.
Evening
End your day by visiting Sylvan Lake, a gorgeous little lake surrounded by beautiful rock formations. Stroll along the Sylvan Lake Shore Trail, an easy trail that is just over a mile long. This trail will take you behind the rock formation of the lake, and to the trailheads of many popular trails including Black Elk Peak and Little Devil’s Tower. The Sylvan Lake Lodge has a dog-friendly area for dining!
Day Three
Morning
On your last day in the enchanting Black Hills of South Dakota start your day with another gorgeous and winding road through the Hills, Needles Highway. Stop at the many majestic overlooks enjoying the otherworldly rock formations. There are several short trails along the way and a longer trail to Cathedral Spires.
Afternoon
Walk along Hill City’s downtown area to admire this adorable town’s artistic shops that give off small mountain town vibes. This small town offers numerous wineries and breweries. Some local favorites are Miners Brewery and Prairie Berry Winery both of which are dog friendly.
Evening
End your visit to the Black Hills by visiting Wind Cave National Park. The park has two dog-friendly trails, Prairie View Trail and Elk Mountain Campground Trial, both trails are around one mile and rated as easy on AllTrails. Use the National Park Service app to complete a self-guided auto tour pointing out significant geological landmarks within the Park.
This itinerary guides you to iconic landmarks in the Black Hills, stopping at local favorites, and taking the scenic routes to discover hidden gems and panoramic vistas all with your best friend at your side! I could spend every day in the Black Hills and still find new places to explore.