One of the options of getting to Agra is by roads. By roads Agra is connected in a quite well defined manner and its well connected road networks are linked to major destinations of Uttar Pradesh, Delhi and Rajasthan as well. Mathura is just 56kms away from Agra while Delhi lies at a distance of 203kms and Jaipur at a distance of 237kms. There is the UP State Road Transport or the UPSRTC and the private buses to and from Agra also facilitate the way of getting to .There is always the option of driving to Agra from Delhi as the roads are quite good.
From Delhi: NH2, a modern divided highway, connects the 200 km distance from Delhi to Agra. The drive is typically 4-5 hours, a large chunk of which includes navigating the clogged roads around Delhi to get to the highway. The primary access to the highway is along Mathura Road in Delhi but, if coming from South Delhi or Delhi Airport, it is easier to take Aurobindo Marg (Mehrauli Road) and then work up to NH2 via Tughlakabad. While the highway is divided, it is important to keep an eye out for trucks, cars, and bullock carts heading the wrong way!
It is possible to hire a car with a driver (a big car for five persons from/to the Delhi airport costs Rs 3500). But beware! If you need to get from Agra to the airport in order to catch a flight, be sure to allow plenty of time for the trip, as traffic conditions may increase the drive time significantly. Also, it is wise to know your driver. There are situations when he may take over five hours to cover the distance, and you cannot force him to drive any faster than an autorickshaw (tuk-tuk).
From Jaipur: National Highway 11, a four lane divided highway, connects Agra with Jaipur via the bird sanctuary town of Bharatpur. The distance of around 255 Km can be covered in around 4 hours.
if you come from jaipur to Agra or Agra to jaipur, you will have better choice to have breakfast or Lunch on very good heritage Rajputana Midway near Village Pipalkhera(Mahua)
From Gwalior: A distance of around 120 km, takes around 1.5 hours on the National highway 3 (Agra- Mumbai Highway)
From Lucknow / Kanpur: NH2, the divided modern highway, continues on to Kanpur (285km, 5 hours) and from there to points East ending in Kolkata. From Kanpur, NH25 heads for the city of Lucknow (90 km, 2 hours).