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Book Your Taxi With Agra Taxi Tour . The distance between Agra and Kanpur is approximately 269 kilometers (167 miles) by road. The travel time can vary depending on the mode of transportation and the traffic conditions. By car or taxi, it usually takes around 4 to 5 hours to travel from Agra to Kanpur, depending on the traffic. The route typically involves taking the National Highway 19 (NH19) or the Yamuna Expressway from Agra to Etawah, and then continuing on the NH19 to reach Kanpur.