There are
716 mi
from Rapid City, SD to Lenexa, KS
That's the driving distance. It would take 12 hours 4 mins to go from Rapid City, South Dakota to Lenexa, Kansas.
The flight distance (direct flight from Rapid City, SD to Lenexa, KS) is 564.05 mi.
716 mi = 1,152.63 kms