The 8 Best City Tours in Rapid City
Rapid City, at the gateway to the Black Hills, offers a surprising variety of city tours that go beyond typical sightseeing. From private hikes in breathtaking landscapes to engaging family-friendly adventures, the options here cater to a wide range of interests and activity levels. Whether you’re craving a serene sunset over the Badlands or an adrenaline rush on a roller coaster, you’ll find tours that deliver unforgettable experiences. Because Rapid City is a hub for exploring nearby national parks and cultural sites, these tours give you a deeper, more personal glimpse into the region’s natural beauty and local stories.
What sets Rapid City apart for city tours is the mix of outdoor adventure and cultural discovery. Many tours are tailored for small groups, offering personalized attention and insider knowledge. Plus, the tours are well-organized, with practical details like free transfers, scenic stops, and themed experiences, making your visit both easy and memorable. Ready to explore? Let’s look at the best options to help you decide.
1. From Rapid City: Private Devils Tower Tour and Hike
At number one, this private day trip to Devils Tower combines hiking and history with the comfort of door-to-door transfers. For around $650, your group of up to two people will enjoy a 7.5-hour adventure that departs from Rapid City or Spearfish. The tour includes a guided walk around the iconic sandstone formation, exploring its significance to Native American tribes and hearing stories that bring the landscape to life, along with spectacular views and wildlife spotting. Your guide, Jamie, is praised for sharing in-depth knowledge and making the experience personal. The highlight is the chance to hike close to Devils Tower, taking in the stunning scenery and understanding its cultural importance.
What makes this tour stand out is the intimate setting and expert guidance, perfect for travelers wanting a tailored experience. The transfer service ensures a hassle-free day, and the focus on native history provides a meaningful perspective. The reviews emphasize Jamie’s accommodating manner and the richness of the learning experience.
Bottom Line: If you want a private, in-depth exploration of Devils Tower with a knowledgeable guide, this tour is a standout. It’s ideal for active travelers and those interested in Native American stories.
2. Roller Coaster Tickets with Dinner and Show in Rapid City
Next on our list is a lively family-friendly adventure that includes a roller coaster ride, dinner, and a show. For $69.88 per person, this 3-hour trip in Rapid City combines thrills with entertainment. The highlight is the Buffalo Hunt coaster, where you’ll use a six-shooter to aim at targets on a herd of over 20 virtual buffalo. It’s a fun, interactive ride that appeals to kids over 40 inches tall and adults alike. After the adrenaline rush, enjoy a hearty chuckwagon dinner with all the fixings, topped off by a live Americana-style variety show filled with music and comedy.
What makes this experience unique is its all-in-one format—thrills, food, and entertainment in one evening. Many reviews praise the efficient service, the quality of the food, and the fun atmosphere. Some mention that the roller coaster might not be for everyone, especially those who fear heights, but the overall family fun and engaging performances make it worth considering.
Bottom Line: Perfect for families seeking a mix of excitement, hearty food, and lively entertainment, offering good value for its lively atmosphere and variety.
3. From Rapid City: Sunset, Stars and Silhouettes
For a truly unforgettable experience, this private nighttime tour of the Badlands combines sunset viewing, star gazing, and storytelling. For $1,099 per group of up to five, you’ll spend around 7 hours exploring the park’s most scenic spots. The tour features exclusive sunset views from quiet, crowd-free locations, followed by an evening under the stars, lying back in zero-gravity chairs to marvel at the Milky Way and constellations. Your guide offers insights into the geology, native wildlife, and the Lakota heritage, making this a multi-layered cultural and natural experience.
This tour’s strength lies in its exclusivity and the chance to see the Badlands in a different light—literally. The limited group size enhances the intimacy and allows for detailed storytelling. Reviewers highlight the extraordinary views and the peaceful environment. It’s best suited for travelers who want a contemplative, scenic night with a focus on natural beauty and astronomy.
Bottom Line: If you love stargazing, scenic sunsets, and storytelling, this private tour offers a memorable evening in one of America’s most beautiful landscapes.
4. Murder Mystery Detective Experience in Rapid City SD
For something a bit different, this interactive murder mystery experience throws you into the role of a detective searching for clues around Rapid City. Spending about 2.5 hours, the tour involves visiting 10 locations, listening to audio stories, and solving a fictional crime. You can choose between a walking or driving route, making it flexible for different physical levels. The experience costs just $14.99 per person, making it an affordable way to enjoy an engaging, story-driven activity.
While reviews are mixed, the concept appeals to those looking for a fun, puzzle-solving evening that combines local spots with storytelling. It’s perfect for mystery fans or families wanting a low-cost evening activity that’s interactive rather than passive. Keep in mind that the rating is 3.5/5, so expectations should be modest.
Bottom Line: An affordable, fun way to explore Rapid City through a detective story—great for puzzle lovers and families wanting a casual activity.
5. Rollickin Rapid City Scavenger Hunt
If you enjoy interactive exploration, this scavenger hunt is a creative twist on sightseeing. Priced at $29 per person, the two-hour adventure uses your phone and a live host to guide you through the city’s highlights. It’s part tour, part challenge, and part social experiment, encouraging you to discover local landmarks and solve clues in a fun, dynamic way. The company is based in Austin but offers its adventures in Rapid City among over 300 cities.
Though it currently has no reviews, this kind of activity suits travelers who prefer a personalized, engaging experience that’s less about passive touring and more about discovery. It’s especially good for groups, families, or friends looking for a memorable, interactive way to see the city.
Bottom Line: Best for those who want a lively, game-like experience that combines sightseeing with a social and competitive element.
6. From Rapid City: Private Spearfish Canyon Tour
This private guided hike in Spearfish Canyon is a nature lover’s dream and offers around 7.5 hours of exploring South Dakota’s scenic beauty. For $650, your group of up to two will enjoy a day of hiking amid waterfalls, panoramic views, and diverse plant and animal life. The tour emphasizes discovering spectacular waterfalls and taking in the canyon’s natural grandeur, all with the expertise of your guide.
What makes this tour notable is the combination of hiking and sightseeing, providing a deeper connection to the landscape. It’s suitable for active travelers who appreciate a personalized, small-group experience. The reviews praise the tour for its natural beauty and the professionalism of the guides.
Bottom Line: If you’re looking for a scenic, personalized outdoor experience that showcases the stunning features of Spearfish Canyon, this private tour is ideal.
7. From Rapid City: Custer State Park Private Safari and Hiking
For the ultimate wildlife encounter, this private safari and hiking tour in Custer State Park combines an open-air jeep adventure with afternoon hikes. Priced at $758 for up to two people, it lasts around 8 hours. The safari allows you to see bison, burros, and other park residents up close, with plenty of opportunities for photos. Afterward, you’ll explore the park’s scenic trails, making this a full-day immersion in South Dakota’s wildlife.
The tour’s key advantage is its exclusivity and the chance to experience Custer in a very personal way. Reviewers emphasize the quality of wildlife sightings and the knowledgeable guides. It’s perfect for active travelers interested in nature and animals, and those who want a private experience rather than a crowded group tour.
Bottom Line: For wildlife enthusiasts seeking an up-close look at Bison and other animals, with the added bonus of hiking in scenic surroundings, this private safari won’t disappoint.
8. From Rapid City: Epic Badlands Tour and Legendary Wall Drug
Rounding out the list is a comprehensive full-day tour of Badlands National Park combined with a visit to Wall Drug. For $1,399 per group up to five, this 7-hour journey explores stunning rock formations, bison herds, and endless skies. The tour includes multiple scenic stops along the Badlands Loop Road, like the Yellow Mounds and Sage Creek Rim Road, providing ample photo opportunities. The highlight is the visit to Wall Drug, where you can enjoy Western-style souvenirs and classic Americana charm.
What makes this tour stand out is its extensive itinerary and the combination of natural beauty with a cultural stop. Many reviews note the tour’s professionalism, the spectacular vistas, and the value of including a well-known roadside attraction. It’s especially suited for travelers wanting a thorough exploration of the Badlands without the hassle of planning.
Bottom Line: An excellent choice for those who want a detailed, full-day experience of Badlands scenery plus a fun stop at Wall Drug.
How to Choose the Right City Tour in Rapid City
When selecting among these tours, consider your interests, budget, and fitness level. If you’re passionate about history and photography, the Sunset, Stars and Silhouettes offers a peaceful, scenic night. For wildlife enthusiasts, the Custer State Park Safari provides a chance to see animals up close. Families or groups wanting a fun, interactive experience might lean toward the roller coaster and dinner show, while history buffs may prefer the Devils Tower private hike.
Budget-wise, the murder mystery offers an affordable option, while the Badlands and Wall Drug combo provides a comprehensive day. Early booking is recommended for popular tours, especially private experiences and sunset outings.
In short, whether you want an active outdoor adventure, culture, or family fun, Rapid City’s tour lineup has something tailored for you.
Final thoughts
Rapid City offers a surprising variety of city tours that suit many interests and activity levels. The private Devils Tower hike and Badlands sunset tours appeal to those seeking intimate, scenic experiences, while family-friendly adventures like the roller coaster dinner add fun and entertainment. Wildlife lovers will appreciate the Custer safari, and mystery fans can try their hand at the detective experience.
If you’re planning ahead, booking early guarantees your spot, especially in peak season. Whatever your style, these tours open a window into the region’s natural beauty and stories — making your visit to Rapid City truly memorable.