Davenport to Lake Mills is 252.2 miles and takes about 5 hours via Avenue of the Saints/US 6/I 380, with a fuel budget near $37 and enough daylight to finish in a day. This drive stays entirely within Iowa, traversing the Midwest region. You'll experience a mix of highway and surface roads, making it a good option for a single-day trip without feeling rushed. Plan for around 5 hours of actual driving time, plus any stops you might want to make along the way.
Trip Pace
Same-day drive is realistic
A same-day return is possible, but it will make for a full day on the road.
Break Rhythm
1 planned break
Plan on a short reset every 3 to 4 hours to stay fresh behind the wheel.
Midpoint
126.1 miles from Davenport, IA
A natural place for your longest stop of the day
, about 2h 26m into the drive
.
Main Roads
Road
Distance
Duration
Avenue of the Saints
168.8 mi
3h 10m
US 6
51 mi
56m
I 380
5.6 mi
7m
410th Street
5.6 mi
9m
Bluebill Avenue
3.6 mi
5m
West Kimberly Road
2.9 mi
4m
Hickory Grove Road
2.5 mi
5m
Leo P Rooff Expressway
2.1 mi
2m
Longest stretch:
Avenue of the Saints
— 168.8 mi, about 3h 10m
Turn-by-Turn Driving Directions
Step-by-step road directions between Davenport, IA and Lake Mills, IA.
1
Start on West 4th Street
0.7 mi·1 min·West 4th Street
2
Turn right onto Marquette Street
1.0 mi·2 min·Marquette Street
3
Turn left onto US 6 Hist
0.5 mi·1 min·West Locust Street
4
Turn slight right onto US 6 Hist
2.5 mi·5 min·Hickory Grove Road
5
At end of road, turn left onto US 6
2.9 mi·4 min·West Kimberly Road
6
Take the ramp onto US 6
51 mi·56 min·US 6
7
Take the exit
0.4 mi·45 sec
Toward I 380, US 218, IA 27
8
Keep slight right at fork
0.6 mi·1 min
Toward I 380, US 218 North, IA 27 North: Cedar Rapids, Waterloo
9
Merge onto I 380; US 218; IA 27
71 mi·1 hr 18 min·Avenue of the Saints
10
Keep slight right at fork onto I 380
5.6 mi·7 min·I 380
Toward I-380 north, US 218 north: Waterloo
11
Continue on US 218
0.2 mi·18 sec·West Washington Expressway
12
Continue on US 218
0.7 mi·51 sec·Leo P Rooff Expressway
13
Continue on US 218
1.3 mi·1 min·West Washington Street
14
Continue on US 218
1.4 mi·1 min·Leo P Rooff Expressway
15
Take the exit onto US 218
0.2 mi·31 sec·US 218
16
Keep slight right at fork onto US 218
0.5 mi·58 sec·US 218
Toward US 218 North, IA 27 North: Waverly
17
Merge onto US 218; IA 27
98 mi·1 hr 51 min·Avenue of the Saints
18
Take the exit
0.3 mi·48 sec
19
Turn left onto CR A38
5.6 mi·9 min·410th Street
20
Turn right onto South Western Street
1.1 mi·1 min·South Western Street
21
Continue on Bluebill Avenue
3.6 mi·5 min·Bluebill Avenue
22
Turn left onto CR 105; I 35 ALT
1.5 mi·2 min·County Road 105
23
Continue on CR 105
1.0 mi·1 min·County Highway 105
24
Continue on CR 105
0.8 mi·1 min·East Main Street
25
Arrive at destination
US 69
Trip Plan
Given the 5-hour duration, leaving Davenport in the morning should allow you to reach Lake Mills with plenty of daylight to spare. The longest stretch without a major highway is 168.8 miles, so ensure you have adequate fuel before heading into that section. With only one recommended stop and a moderate fuel cost of $37, this trip offers flexibility. Consider starting your drive after morning rush hour to maximize your time on the road.
Morning Departure
An early start around 7-8 AM gets you there with plenty of daylight left.
Evening Departure
A late afternoon start means arriving after dark. Morning is better.
You can normally do this drive in one day.
Plan roughly 1 meaningful break for fuel, food, and rest.
The halfway point lands around 126.1 miles from Davenport, IA, or about 2h 26m into the drive.
The longest continuous stretch on this route runs about 168.8 miles.
This is a comfortable same-day trip.
Departure
Before you leave
Start with fuel, water, and navigation already sorted so the first hour feels easy.
First stop
Around 55 miles or 1h 6m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 126.1 miles or 2h 26m in
This is the best place for your longest stop, a real meal, and a full fuel check.
Final approach
Final hour starts around 4h
Traffic, exits, and arrival timing usually matter more near Lake Mills, IA than in the middle of the route.
Before You Leave
+
Open the route before leaving Davenport, IA so your first major turns are already loaded.
+
Leave with enough water and a charging cable within reach, not packed away.
+
Check your fuel range against the first long segment, especially if you are starting outside city service areas.
Day 1
Settle into the route from Davenport, IA
This is one driving day of about 252.2 miles and 5h.
Your first comfortable stop window is around 55 miles from Davenport, IA.
This route can stay practical as a one-day drive if traffic stays reasonable.
Plan about 1 real break rather than only quick fuel stops.
The longest stretch is on Avenue of the Saints for about 168.8 miles.
Where to Stop
Rest stops, refuel points, and overnight suggestions along this route.
Place data sourced from public business listings. Hours and availability may vary.
Heads-up: tricky spots
5 of 15
5 decision points cluster between mile 4.7 and 139.8 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
5
4.7 mi into trip|~10m in|US 6 / West Kimberly Road
At end of road, turn left onto US 6 / West Kimberly Road
Navigation decision point
5
58.6 mi into trip|~1h 10m in
Take the exit toward I 380, US 218, IA 27
Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one
Toward I 380, US 218, IA 27
6
58.9 mi into trip|~1h 11m in
Keep slight right at fork toward I 380, US 218 North, IA 27 North: Cedar Rapids, Waterloo
Highway fork - watch signs carefully. Multiple destination signs - pick the right one
Toward I 380, US 218 North, IA 27 North: Cedar...
6
130.3 mi into trip|~2h 31m in|I 380
Keep slight right at fork onto I 380 toward I-380 north, US 218 north: Waterloo
Highway fork - watch signs carefully. Multiple destination signs - pick the right one
Toward I-380 north, US 218 north: Waterloo
6
139.8 mi into trip|~2h 44m in|US 218
Keep slight right at fork onto US 218 toward US 218 North, IA 27 North: Waverly
Highway fork - watch signs carefully. Multiple destination signs - pick the right one
Toward US 218 North, IA 27 North: Waverly
Fuel & Cost
Regular Gas
$39.43 one way
$78.86 round trip
$3.97/gal25.4 MPG avg88 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.36
$43.29
$86.58
premium
$4.89
$48.53
$97.07
diesel
$5.61
$55.68
$111.37
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$39
Meals
$25–$50
Total
$64–$89
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 88.2 kg one way.
Prices: EIA weekly data, 2026-04-13.
Driving Electric?
About $26 in charging
· 0 stops
· 66% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
75.7
0
$26.48
$12.11
Efficient EV
63.1
0
$22.07
$10.09
EV Truck/SUV
100.9
1
$35.31
$16.14
Gas CO2
88 kg
EV CO2
30 kg (66% less)
Plan for 0 charging stops, roughly every 270 miles. Allow 25-40 minutes per stop at a DC fast charger.
DC fast charging avg $0.35/kWh. Home charging avg $0.16/kWh. US grid CO2: 0.39 kg/kWh.
Travel Intel
Current conditions at both ends of the drive.
Forecast as of Apr 15, 2026
Origin
Davenport, IA
Late night
in Davenport on Sunday
Local time
3:10 AM
CDT
Current temp
71°F
Unavailable
Live forecast
Destination
Lake Mills, IA
Late night
in Lake Mills on Sunday
Local time
3:10 AM
CDT
Current temp
71°F
Unavailable
Live forecast
Seasonal Notes
Summer travel usually means heavier construction, hotter rest stops, and busier weekend traffic around major cities.
Winter travel shortens daylight, so a route that looks manageable on paper can feel much longer after dark.
Holiday weekends tend to make both departure and arrival windows slower than the raw route time suggests.
Time zone
Same local time
Origin and destination are on the same clock, so arrival timing is easier to judge at a glance.
Temperature spread
Very similar conditions
Both ends of the route are sitting at about the same temperature right now.
Road read
5h on the road
An early start around 7-8 AM gets you there with plenty of daylight left.
Weather data from the National Weather Service. Conditions may change; check closer to your travel date.
More Details
What kind of drive is this?
This route is mostly surface roads, with only 24% of the drive on highways like I 380. You'll encounter your longest stretch of continuous driving at 168.8 miles, primarily on the Avenue of the Saints and US 6. Expect a more rural cruising feel once you leave the interstate, with fewer exits and a generally more relaxed pace.
Only 24% highway — the rest is turn-by-turn surface driving.
25 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 168.8 mi on Avenue of the Saints.
How Hard Is This Drive?
7/10
Expect a hands-on drive with frequent turns and local roads rather than long highway stretches. This route has several spots where lane changes, forks, or exits need your full attention. The trickiest moment comes around 4.7 miles in near US 6 / West Kimberly Road.
Driving Effort7/10
Demanding - plan breaks and stay ahead of the key maneuvers
Balances navigation complexity with total wheel time.
This is a demanding drive. With 15 significant decision points across 252.2 miles, you will need to stay alert - especially through interchange areas and urban stretches. Consider splitting it into segments if you are not comfortable with fast highway navigation.
Where does it get tricky?
The main spots that need attention: at 4.7 miles (US 6 / West Kimberly Road): Navigation decision point; at 58.6 miles: Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one; at 58.9 miles: Highway fork - watch signs carefully. Multiple destination signs - pick the right one.
Towns Mentioned on Route Signs
Based on OSRM destination-sign hints, not a full list of every settlement the road passes.
On the drive from Davenport, IA to Lake Mills, IA, road signs begin pointing toward Waterloo along the way.
Waterloo
58.9 mi in|~1h 11m
Who Is This Route For?
Weekend Trip
Doable as a same-day drive at 5h. Total distance: 252.2 miles.
Family Friendly
Moderate complexity with 1 natural rest stops along the way.
Solo Traveler
5h drive, comfortable solo distance.
Scenic Drive
Mostly surface roads route profile.
Frequently Asked Questions
The longest stretch is about 168.8 miles on Avenue of the Saints. The full list of main roads is in the Roads section above.
We did not find dedicated rest areas on this route. For a drive this long, plan bathroom and stretch breaks around gas stations, fast-food stops, or small-town downtowns — check the Nearby Places section for options.
It helps. This route has a higher-than-average number of complex decision points, which get harder in the dark. If the last hour of the trip is on surface roads or mountain grades, aim to arrive at Lake Mills, IA before sunset when you can. Check the Trip Plan for departure windows that land you in daylight.
Only with planning. This is a long drive for kids — consider splitting it into two days rather than pushing through. Plan at least 1 meaningful breaks. Dedicated rest areas are limited, so plan gas or food stops as your bathroom breaks.
The main spots that need attention: at 4.7 miles (US 6 / West Kimberly Road): Navigation decision point; at 58.6 miles: Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one; at 58.9 miles: Highway fork - watch signs carefully. Multiple destination signs - pick the right one.
Not recommended in a single day. At 5.0 hours each way, a round trip means 10.0 hours of driving — that is an unsafe level of fatigue for most drivers. Plan at least one night at Lake Mills, IA before the return drive.
