The Wayro route from Waco to Matamoros is 434 miles (698 km), about 7 h 40 min of driving without stops. The U.S.–Mexico border is at about mile 432 on this route, near the Brownsville port of entry.
| Distance | 434 mi (698 km) |
|---|---|
| Driving time, no stops | 7 h 40 min |
| Main roads, in order | I-35 → TX 130 Toll → US-183 → TX 80 → FM 792 → US-181 → US-77 → I-69E |
| Border crossing | about mile 432 of this route, Texas → Tamaulipas (near the Brownsville, TX port of entry) |
| Mexican states on the route | Tamaulipas (Level 4) |
| Fuel estimate (car at 25 mpg) | about 17.3 gal; actual use varies by vehicle and traffic |
| Stops listed below | 9 |
Crossing into Mexico: what you need for Matamoros
| Passport | Passport book or passport card to enter Mexico by land |
|---|---|
| FMM entry permit | Not needed if you stay within 12 miles (20 km) of the border for 6 days or less; required for longer stays or if you travel farther in |
| Temporary vehicle import permit (TIP) | Not needed inside the border zone; required if you drive farther into Mexico |
| Mexican auto insurance | Required for all vehicles: buy a Mexican policy before you cross |
Sources: U.S. State Department, Mexico travel information (updated August 11, 2026); permits are issued by Banjercito.
Crossing at Brownsville
Brownsville and Matamoros are linked by several crossings, including the B&M and Gateway International bridges, which serve pedestrians, cars and buses, and the Veterans International Bridge at Los Tomates, which also carries commercial trucks.
What the drive from Waco to Matamoros is like
I-69E (87 mi) and US-77 (73 mi) carry about 37% of the 434 miles. The U.S. part of the drive runs through Texas for about 432 miles; after the border at Brownsville you have about 2 miles left in Mexico. Of the 9 stops listed below, 2 are within a mile of the road.
The route from Waco to Matamoros, road by road
| Road | Route miles (from–to) | Length, mi | State |
|---|---|---|---|
| local roads | 0–2 | 2 | Texas |
| I-35 | 2–69 | 67 | Texas |
| connecting roads | 69–70 | 1 | Texas |
| TX 130 Toll | 70–128 | 58 | Texas |
| US-183 | 128–148 | 20 | Texas |
| TX 80 | 148–199 | 51 | Texas |
| FM 792 | 199–208 | 9 | Texas |
| US-181 | 208–268 | 60 | Texas |
| US-77 | 268–280 | 12 | Texas |
| connecting roads | 280–283 | 3 | Texas |
| I-69E | 283–314 | 31 | Texas |
| US-77 | 314–375 | 61 | Texas |
| I-69E | 375–431 | 56 | Texas |
| local roads | 431–434 | 3 | Texas, Tamaulipas |
- Mile 432 of this route: Texas → Tamaulipas (international border)
Stops between Waco and Matamoros
- Right off the route (under 1 mile): Salado Springs (mile 51), Berry Springs Park (mile 71)
- Nature and outdoors: Salado Springs (mile 51), Berry Springs Park (mile 71), Inner Space Cavern (mile 75), McKinney Falls State Park (mile 111), Lockhart State Park (mile 132), Palmetto State Park (mile 151), Resaca de la Palma State Park (mile 424), Palo Alto Battlefield National Historical Park (mile 424)
- Museums and history: Palo Alto Battlefield National Historical Park (mile 424)
Salado Springs
Right off Main Street in the village of Salado, the springs form a swimming hole along Salado Creek, watched over by a statue of Sirena, the mermaid of local legend whose tears are said to keep the springs flowing.
Berry Springs Park
Outside Georgetown along Berry Creek, this Williamson County park shades its picnic areas and campsites with a century-old heritage pecan grove, and offers hiking, biking and fishing.
Inner Space Cavern
A Texas Highway Department drilling crew found this Georgetown cave in 1963, and it opened for tours in 1966. Guided walks pass formations, large rooms and prehistoric animal bones at a steady 72°F.
McKinney Falls State Park
About 13 miles from downtown Austin, Onion Creek spills over limestone ledges into pools at the upper and lower falls. Nearly nine miles of trails pass early Texas homestead ruins and an ancient rock shelter.
Lockhart State Park
Play a round on the nine-hole golf course built by the WPA and Civilian Conservation Corps, fish Clear Fork Creek, or hike the Clear Fork and Persimmon trails. Campsites with hookups sit along the creek.
Ottine wetlands
Along the San Marcos River near Gonzales, these swamps and an oxbow lake lie within Palmetto State Park, where dwarf palmettos, easy trails, birding and paddling give the area a tropical feel.
Palmetto State Park
Dwarf palmettos, the park's namesake, grow beneath the trees along a trail at this Gonzales County park. Visitors canoe, swim and fish on the San Marcos River and an oxbow lake, and CCC-built structures still stand.
Resaca de la Palma State Park
Shaped by the Rio Grande, this Brownsville park protects resacas and semi-tropical woodland for birding. Private cars aren't allowed, so visitors explore more than eight miles of trails and four observation decks by tram, bike or on foot.
Palo Alto Battlefield National Historical Park
U.S. and Mexican troops clashed on this prairie near Brownsville on May 8, 1846, in the first battle of the U.S.-Mexican War; a visitor center, trails, and a shaded overlook with interpretive signs help visitors read the battlefield.
When you get to Matamoros
Matamoros faces Brownsville, Texas, near the spot where the Rio Grande meets the Gulf of Mexico, in northeastern Tamaulipas. Proudly called Heroica Matamoros, the city grew from an 18th-century ranch settlement, and its downtown centers on Plaza Hidalgo, a neoclassical cathedral begun in the early 1800s and the Teatro de la Reforma.
- Catedral de Nuestra Señora del Refugio: Facing Plaza Hidalgo, the neoclassical cathedral has a three-arched facade; its towers were rebuilt after a 1933 hurricane. source
- Museo Casamata: A 19th-century military fort now holds a museum on the battles fought in the region. source
- Teatro de la Reforma: This theater in the historic center is known for its architecture and remains a cultural venue downtown. source
Matamoros Cathedral
Facing Plaza Hidalgo in downtown Matamoros, the neoclassical Cathedral of Our Lady of Refuge has a three-arched facade with Tuscan columns; its twin towers were rebuilt after a 1933 hurricane, and a replica of the Vatican's Pietà stands inside.
Gladys Porter Zoo
Opened in 1971 in central Brownsville, this 31-acre zoological and botanical park was funded by the Earl C. Sams Foundation and has been accredited by the Association of Zoos and Aquariums since 1978.
Immaculate Conception Cathedral
Completed in 1859 to plans by Father Pierre Keralum, who studied architecture in France, this Gothic Revival church was built with 250,000 handmade bricks and serves as the cathedral of the Diocese of Brownsville.
More drives to Matamoros
- McAllen, TX to Matamoros
- Arlington, TX to Matamoros
- Rockport, TX to Matamoros
- South Padre Island, TX to Matamoros
- Plano, TX to Matamoros
- Austin, TX to Matamoros
From Waco to other places in Mexico
- Waco, TX to Ojinaga
- Waco, TX to Ciudad Acuña
- Waco, TX to Piedras Negras
- Waco, TX to Monterrey
- Waco, TX to Reynosa
- Waco, TX to Santiago
All routes to Matamoros, border crossings and permits in one place: Driving to Matamoros, Mexico from the U.S.
Continue Your Adventure
Frequently asked questions
How long is the drive from Waco to Matamoros?
About 7 h 40 min of driving without stops, over 434 miles.
How far is Matamoros from Waco by car?
About 434 miles (698 km) on the Wayro route. Other map services may show a few miles more or less, depending on where they start and end in each city.
Where does the Waco to Matamoros drive cross into Mexico?
At about mile 432 of this route, from Texas into Tamaulipas, near the Brownsville port of entry.
Do I need a permit to drive my car from Waco to Matamoros?
Not needed inside the border zone; required if you drive farther into Mexico. You also need Mexican auto insurance and a passport book or card.
Is it safe to drive from Waco to Matamoros?
The U.S. State Department rates Tamaulipas Level 4: Do Not Travel (advisory issued May 29, 2026). Read the full advisory before you go.
What roads does the drive from Waco to Matamoros use?
In order: I-35, TX 130 Toll, US-183, TX 80, FM 792, US-181, US-77 and I-69E. The road-by-road table above shows the route miles and states for each one.
What are good stops between Waco and Matamoros?
Closest to the road: Salado Springs (spring, mile 51, 0.1 mi from the route); Berry Springs Park (park, mile 71, 0.7 mi from the route); Lockhart State Park (state park, mile 132, 2 mi from the route). All stops are described above.
How we put this guide together
Wayro calculates the route from OpenStreetMap road data; mile numbers are positions along this route, not highway mile markers, and "from the route" distances are straight-line, so the real detour depends on access roads. Stops are chosen from parks, natural sites, museums, historic sites and attractions close to the route (roughly 2 to 7 miles depending on the type, farther for World Heritage sites): at least one strong stop for each stretch of the drive, then the best-known places nearest the road, with no more than five of one type, up to nine in all. Places that are closed, private or not open to visitors are removed. Place and city descriptions are written by the Wayro team from official park, museum, tourism and government websites and other published sources. Safety levels and entry rules were checked against the U.S. Department of State on September 29, 2026. Conditions change, so check the linked sources before you travel.
Route data © OpenStreetMap contributors.