This 144.6-mile journey from Lee's Summit, MO to Willard, MO is a straightforward, highway-focused drive perfect for a single day trip. Expect the drive to take about 3 hours, with a fuel cost estimated at $23. You'll primarily be on MO 13, MO 7, and MO 291, with 92% of the route being highway driving. This trip stays within the Midwest region, offering a consistent feel throughout. It's an efficient way to travel between these two Missouri locations without needing an overnight stop.
Trip Pace
Same-day drive is realistic
A same-day return is realistic if you keep stops short.
Break Rhythm
1 planned break
A short stop every 2 to 3 hours is enough for this drive.
Midpoint
72.3 miles from Lee's Summit, MO
A natural place for your longest stop of the day
, about 1h 29m into the drive
.
Main Roads
Road
Distance
Duration
MO 13
57 mi
1h 5m
MO 7
55.6 mi
1h 4m
MO 291
16.9 mi
24m
MO Z
6.4 mi
9m
MO BB
4.5 mi
9m
I 49
2.8 mi
3m
Southwest Jefferson Street
0.5 mi
<1m
West Jackson Street
0.3 mi
<1m
Longest stretch:
MO 13
— 57 mi, about 1h 5m
Turn-by-Turn Driving Directions
Step-by-step road directions between Lee's Summit, MO and Willard, MO.
1
Start on Southwest 3rd Street
0.1 mi·15 sec·Southwest 3rd Street
2
Turn right onto Southwest Jefferson Street
0.5 mi·50 sec·Southwest Jefferson Street
3
Enter roundabout
251 ft·5 sec
4
Continue
367 ft·9 sec
5
Continue on MO 291
17 mi·24 min·MO 291
6
Continue on Cantrell Road
0.1 mi·19 sec·Cantrell Road
7
Take the exit
0.2 mi·27 sec
Toward I 49 South, US 71 South: Joplin
8
Merge onto I 49; US 71
2.8 mi·3 min·I 49; US 71
9
Take the exit onto MO 7
0.2 mi·19 sec·MO 7
Exit 157Toward MO 7 South: Clinton
10
Turn slight left onto MO 7
55 mi·1 hr 3 min·MO 7
Exit 157Toward MO 7 South: ClintonUse the left lane.
11
Continue on MO 13
57 mi·1 hr 5 min·MO 13
Use the straight / right lanes.
12
Turn right onto MO BB
4.5 mi·9 min·MO BB
13
At end of road, turn left onto MO Z
6.4 mi·9 min·MO Z
14
Turn left onto US 160 Business
0.3 mi·49 sec·West Jackson Street
15
Arrive at destination
US 160 Business
Trip Plan
Given the 3-hour duration, this route is easily manageable as a single-day trip, allowing for flexibility in your departure time. You'll want to budget around $23 for fuel, and with the longest stretch on MO 13 being 57 miles, plan for one main stop around the halfway point for fuel or a quick break. Keep an eye on your fuel gauge as you approach the longer stretches, ensuring you're topped up before hitting those uninterrupted segments. This direct drive means you can focus on getting to Willard efficiently.
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 72.3 miles from Lee's Summit, MO, or about 1h 29m into the drive.
The longest continuous stretch on this route runs about 57 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 32 miles or 43m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 72.3 miles or 1h 29m in
This is the best place for your longest stop, a real meal, and a full fuel check.
Final approach
Final hour starts around 2h 22m
Traffic, exits, and arrival timing usually matter more near Willard, MO than in the middle of the route.
Before You Leave
+
Open the route before leaving Lee's Summit, MO 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 Lee's Summit, MO
This is one driving day of about 144.6 miles and 3h.
Your first comfortable stop window is around 32 miles from Lee's Summit, MO.
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 MO 13 for about 57 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 8
5 decision points cluster between mile 0.6 and 137.9 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
4
0.6 mi into trip|~1m in
Enter roundabout
Roundabout - know your exit number before entering
6
17.7 mi into trip|~26m in
Take the exit toward I 49 South, US 71 South: Joplin
Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one
Toward I 49 South, US 71 South: Joplin
5
20.8 mi into trip|~29m in|MO 7
Take the exit onto MO 7 toward MO 7 South: Clinton
Exit ramp - move to the correct lane early
Exit 157
Toward MO 7 South: Clinton
5
20.9 mi into trip|~30m in|MO 7
Turn slight left onto MO 7 toward MO 7 South: Clinton
Lane positioning matters here
Use the left lane.
Exit 157
Toward MO 7 South: Clinton
5
137.9 mi into trip|~2h 49m in|MO Z
At end of road, turn left onto MO Z
Navigation decision point
Fuel & Cost
Regular Gas
$22.61 one way
$45.21 round trip
$3.97/gal25.4 MPG avg51 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.36
$24.82
$49.64
premium
$4.89
$27.83
$55.65
diesel
$5.61
$31.93
$63.85
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$23
Meals
$25–$50
Total
$48–$73
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 50.6 kg one way.
Prices: EIA weekly data, 2026-04-13.
Driving Electric?
About $15 in charging
· 0 stops
· 67% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
43.4
0
$15.18
$6.94
Efficient EV
36.2
0
$12.65
$5.78
EV Truck/SUV
57.8
0
$20.24
$9.25
Gas CO2
51 kg
EV CO2
17 kg (67% less)
This trip is well within single-charge range for most EVs. No charging stops needed if you start fully charged.
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
Lee's Summit, MO
Late night
in Lee's Summit on Sunday
Local time
12:57 AM
CDT
Current temp
73°F
Unavailable
Live forecast
Destination
Willard, MO
Late night
in Willard on Sunday
Local time
12:57 AM
CDT
Current temp
54°F
Unavailable
Live forecast
55°F
Holden, MO
72 mi in
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
19 degrees cooler at arrival
A meaningful temperature swing is a good cue to rethink layers, water, and how soon you want to arrive.
Road read
3h on the road
Use the two city cards together: check the sky where you start, then compare it with the local time and temperature at arrival.
Weather data from the National Weather Service. Conditions may change; check closer to your travel date.
National Parks Near This Route
Worth a detour if your schedule allows.
Wilson's Creek National Battlefield
National Battlefield
Wilson's Creek was the first major Civil War battle fought west of the Mississippi River, and where the first Union general was killed in action. The costly Southern victory on August 10, 1861, focuse...
14 mi from route
~36 min detour
Free
near mile 144.6
Park data from the National Park Service API. Alerts update every 2 hours.
More Details
What kind of drive is this?
The character of this drive is overwhelmingly highway, with 92% of the 144.6 miles taking place on faster roads. You'll experience a significant stretch of 57 miles on MO 13 without interruption, offering a chance to settle in. While largely highway-focused, the route incorporates MO 7 and MO 291, which may offer slightly varied driving experiences as you progress. Overall, expect a smooth and direct path with minimal complex turns or slower local roads.
92% highway — fuel and pacing are the main things to plan.
15 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 57 mi on MO 13.
How Hard Is This Drive?
2/10
This is a straightforward highway drive that stays mostly on MO 13 and MO 7. Navigation is very simple - set it and forget it for most of the drive. The trickiest moment comes around 0.6 miles in.
Driving Effort2/10
Very easy - short and simple to drive
Balances navigation complexity with total wheel time.
The drive from Lee's Summit, MO to Willard, MO is easy. At 3h with 92% highway, most drivers will find it relaxed and low-stress.
Where does it get tricky?
The main spots that need attention: at 0.6 miles: Roundabout - know your exit number before entering; at 17.7 miles: Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one; at 20.8 miles (MO 7): Exit ramp - move to the correct lane early.
Who Is This Route For?
Weekend Trip
Doable as a same-day drive at 3h. Total distance: 144.6 miles.
Family Friendly
Moderate complexity with 1 natural rest stops along the way.
The longest stretch is about 57 miles on MO 13. 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.
Yes, with realistic expectations. Build in a stop roughly every 2 hours, have snacks and activities ready, and check the Nearby Places tabs for kid-friendly stops along the way.
The main spots that need attention: at 0.6 miles: Roundabout - know your exit number before entering; at 17.7 miles: Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one; at 20.8 miles (MO 7): Exit ramp - move to the correct lane early.
Yes — Wilson's Creek National Battlefield. See the National Parks section for detour distances and tips on detours.
Possible but tiring. At 3.0 hours each way, an in-and-out day trip would put you behind the wheel for 6.0 hours — manageable with a long break at Willard, MO, but most travelers stay overnight.
