22 cities
| City | Rank | 2025 Pop. ↓ | 2020 Pop. | Annual Change | Density | Area (mi²) | Type |
|---|---|---|---|---|---|---|---|
| Plankinton | 1 | 762 | 764 | -0.13% | 999 | 1 | City |
| White Lake | 2 | 396 | 393 | 0% | 978 | 0 | City |
| Stickney | 3 | 311 | 318 | -0.64% | 1,160 | 0 | Town |
| Plankinton | 4 | 210 | 210 | -0.47% | 6 | 34 | Township |
| White Lake | 5 | 83 | 83 | -2.35% | 2 | 36 | Township |
| Dudley | 6 | 81 | 81 | -2.41% | 2 | 35 | Township |
| Center | 7 | 78 | 77 | -1.27% | 2 | 36 | Township |
| Belford | 8 | 72 | 73 | -2.7% | 2 | 36 | Township |
| Palatine | 9 | 68 | 66 | 0% | 2 | 37 | Township |
| Hopper | 10 | 64 | 63 | -1.54% | 2 | 36 | Township |
| Truro | 11 | 61 | 61 | -1.61% | 2 | 35 | Township |
| Pleasant Lake | 12 | 59 | 59 | -1.67% | 2 | 34 | Township |
| Firesteel | 13 | 53 | 49 | 3.92% | 1 | 37 | Township |
| Lake | 14 | 53 | 52 | -1.85% | 2 | 34 | Township |
| Gales | 15 | 46 | 48 | -2.13% | 1 | 36 | Township |
| Aurora Center | 16 | 43 | 46 | 7.5% | 1,000 | 0 | CDP |
| Crystal Lake | 17 | 40 | 42 | -2.44% | 1 | 36 | Township |
| Washington | 18 | 40 | 42 | -2.44% | 1 | 36 | Township |
| Patten | 19 | 39 | 41 | -2.5% | 1 | 36 | Township |
| Pleasant Valley | 20 | 22 | 22 | 0% | 1 | 35 | Township |
| Cooper | 21 | 17 | 17 | 0% | 1 | 34 | Township |
| Storla | 22 | 6 | 21 | 0% | 48 | 0 | CDP |
Plankinton is the largest city in Aurora County, with a population of 762.
Storla is the smallest city in Aurora County, with a population of 6.
There are 22 cities in Aurora County, South Dakota.