Rayagada is on the Koraput-Visakhapatnam-Howrah rail line and is well-connected by overnight trains from Bhubaneswar, Visakhapatnam, and Kolkata. The station is about a kilometre west of the town centre. By road, regular state buses run from Berhampur, Koraput, and Visakhapatnam — the last is the easiest gateway and takes around four hours by road or rail.
The nearest airport is Visakhapatnam in Andhra Pradesh. Domestic flights connect there from Bhubaneswar, Hyderabad, Chennai and Delhi.