Is it cheaper to live in Aurora or Rapid City?

Rapid City, SD is cheaper. Its monthly baseline of $970 (1BR rent + utilities) runs about 26% below Aurora, CO's $1,310, mainly because of rent.

How much more do you need to earn to live in Aurora than in Rapid City?

To keep rent near the recommended 30% of gross income, you'd want to earn roughly $46,000 a year in Aurora versus $32,000 in Rapid City.

Which has lower taxes, Aurora or Rapid City?

Aurora is taxed under Colorado's rules (a top state income tax rate of 4.40% and a 2.9% state sales tax); Rapid City under South Dakota's (no state income tax and a 4.2% state sales tax).

Aurora vs Rapid City Cost of Living 2026

Aurora

Colorado

$1,310/mo est.

Rapid City

South Dakota

$970/mo est.

Monthly estimate = 1BR rent + electricity + gas

A one-person monthly baseline (1BR rent plus typical utilities) runs $1,310 in Aurora, CO versus $970 in Rapid City, SD. Overall, Rapid City, SD is roughly 26% cheaper to live in day-to-day than Aurora, CO, driven mainly by rent.

Median household income is $85,364 in Aurora, CO and $65,712 in Rapid City, SD — about 23% higher in Aurora, CO. Colorado has a top state income tax rate of 4.40% and a 2.9% state sales tax; South Dakota has no state income tax and a 4.2% state sales tax.

Aurora, CO

Rapid City, SD

Rent

Studio

—

$533

1 Bedroom

$1,138

$807

+29% in Aurora, CO

2 Bedroom

$2,284

$1,156

+49% in Aurora, CO

3 Bedroom

$2,320

$1,260

+46% in Aurora, CO

Buying a Home

Median Home Value

$689,000

$270,000

+61% in Aurora, CO

Income

Median Household Income

$85,364

$65,712

+23% in Aurora, CO

Metro Median Wage (annual)

$62,320

$46,270

+26% in Aurora, CO

People & Lifestyle

Median Age

35.3 yr

39.0 yr

+3.7 yr in Rapid City, SD

Homeownership

46.0%

61.6%

+15.6 pp in Rapid City, SD

Bachelor's+ (25+)

41.4%

36.4%

+5.0 pp in Aurora, CO

Avg Commute

18.7 min

17.4 min

+1.3 min in Aurora, CO

Crime (per 100k/yr)

Violent Crime

952.9

718.9

+25% in Aurora, CO

Property Crime

3,368.1

3,795.8

+13% in Rapid City, SD

FBI Crime Data Explorer. Offenses per 100,000 residents per year; agency reporting practices vary, so this is approximate.

Climate

Avg Annual Temperature

50.2°F

47.1°F

+3.1°F in Aurora, CO

Annual Precipitation

15.6 in

16.3 in

+0.7 in in Rapid City, SD

Gas

Regular Gasoline

$4.13/gal

$3.85/gal

+7% in Aurora, CO

Area: Colorado vs Midwest (PADD 2).

Public Transit

Base Fare (one-way)

$2.75

—

Adult base one-way fare — RTD vs — (2026).

Utilities

Electricity (¢/kWh)

17.1

15.4

+10% in Aurora, CO

Natural Gas ($/MCF)

$15.05

$15.26

+1% in Rapid City, SD

Residential, state-level averages (EIA). MCF = 1,000 cubic feet.

Groceries

Milk (gal)

$4.82

$4.31

+10% in Aurora, CO

Bread (lb)

$2.04

$1.66

+19% in Aurora, CO

Eggs (doz)

$2.19

$3.63

+66% in Rapid City, SD

Ground Beef (lb)

$7.36

$6.77

+8% in Aurora, CO

Chicken (lb)

$2.01

$2.10

+4% in Rapid City, SD

Bananas (lb)

$0.70

$0.62

+12% in Aurora, CO

Average prices — West vs Midwest (BLS). Regional where available, otherwise U.S. average.

State Taxes

Sales Tax (CO / SD)

2.9%

4.2%

+1.3 pp in SD

Income Tax (top rate)

4.40%

None

+4.4 pp in CO

Aurora vs Rapid City — FAQ

Is it cheaper to live in Aurora or Rapid City?: Rapid City, SD is cheaper. Its monthly baseline of $970 (1BR rent + utilities) runs about 26% below Aurora, CO's $1,310, mainly because of rent.
How much more do you need to earn to live in Aurora than in Rapid City?: To keep rent near the recommended 30% of gross income, you'd want to earn roughly $46,000 a year in Aurora versus $32,000 in Rapid City.
Which has lower taxes, Aurora or Rapid City?: Aurora is taxed under Colorado's rules (a top state income tax rate of 4.40% and a 2.9% state sales tax); Rapid City under South Dakota's (no state income tax and a 4.2% state sales tax).

Sources: US Census Bureau, ACS 5-Year (rent, income, home value, demographics); NOAA Climate Normals 1981–2010 (climate); EIA weekly retail (gas); Tax Foundation 2026 (state taxes).