Miami to St Augustine drive: Best stops, time & distance

The best road trip stops on the Miami to St Augustine drive are West Palm Beach, Fort Pierce and Daytona Beach. The distance from Miami to St Augustine is 313 miles, with a 4h54m driving time.

Planning a Miami to St Augustine road trip itinerary

The Miami to St Augustine drive takes you up Florida’s east coast, combining beaches, nature and heritage.

Miami is a city with several sides to it. The art deco and showiness of South Beach contrasts heavily with the landscaped garden grandeur of Coral Gables, for example.

Top Miami experiences include food tours of Little Havana, sightseeing by speedboat and South Beach cruises that take in the homes of millionaires. Alternatively, try a sunset cocktail cruise, a half day Everglades tour or a scenic helicopter flight.

Attractions worth getting advance tickets for include the Frost Science Museum, the Museum of Graffiti and the Paradox Museum.

The most memorable Miami accommodation is in one of South Beach’s art deco hotels. The Essex House Hotel is an architectural classic. The National has an amazing pool.

In the compact, historic centre, there are several chintzy heritage attractions which are fun but not exactly brimming with centuries of authenticity.

The Spanish-built Castillo de San Marcos on the waterfront does pack that historic power, though. It should be sight number one before mooching around town.

Other St Augustine experiences include hop-on, hop-off trolley passes, sunset cruises and dolphin, manatee and sea turtle-viewing tours.

Excellent St Augustine hotel choices include the Guy Harvey Hotel if you want to be by the beach, and the Casa Monica Resort in the Historic District.

Miami to St Augustine distance and driving time

By car, the distance from Miami to St Augustine FL is 313 miles. You can expect a driving time of around four hours and 54 minutes. The quickest route is mostly up the I-95.

The best stops to add to a Miami to St Augustine road trip are West Palm Beach, Fort Pierce and Daytona Beach. For more suggestions, read the guides to the individual sections of the journey:

Best stops between Miami and St Augustine: West Palm Beach

Notoriously wealthy West Palm Beach goes big on art. The Norton Museum of Art and Ann Norton Sculpture Gardens are the big hitters, but there are plenty of smaller galleries. Arguably the top attraction is in Palm Beach, however. Here, the Henry Morrison Flagler Museum marries Gilded Age grandeur with Florida history.

Bookable West Palm Beach experiences include snorkelling tours, sunset cruises and photoshoots on Worth Avenue. You can also try jet snorkelling, parasailing and food-tasting market tours.

For West Palm Beach accommodation with superb guest ratings, the Pioneer Inn is excellent value and the Ben brings five star opulence.

Miami to St Augustine drive: Fort Pierce FL

Fort Pierce is an often-overlooked spot on Florida’s Atlantic coast, but there’s plenty to do here. Top Fort Pierce experiences include clear kayak tours through the mangroves, jungle tours and sunset kayak tours.

The National Navy UDT-SEAL Museum looks at the elite special ops marine troops of the Navy Seals, while the St Lucie County Aquarium shows off other marine life.

The Fort Pierce Inlet State Park offers an excellent half-mile beach, birdwatching, an observation tower and snorkelling off the shore. There’s also a string of beaches on the south side of the Inlet.

Manatees also rock up here during the winter months, with the Fort Pierce Manatee Observation Center the best place to see them.

Well-reviewed Fort Pierce accommodation options include the budget-friendly Hampton Inn and the beachfront Hutchinson Island Plaza Hotel.

Miami to St Augustine FL road trip attractions: Daytona Beach

Daytona Beach is one of the most attractive cities on Florida’s Atlantic Coast. To many, it is most obviously associated with NASCAR racing at the Daytona Speedway, but there’s way more to it than fast cars.

Enjoyable Daytona Beach experiences include small group sailing cruises, paddleboarding or kayaking with dolphins and manatees, wine bar tours and a Polynesian fire and dinner show.

You can also try a dive bar crawl, zipline adventures and beach Segway rides.

Good Daytona Beach accommodation options with pools by the beach include the Days Inn Daytona Oceanfront and Bahama House.