Aurora is a home rule municipality located in Arapahoe, Adams, and Douglas counties, Colorado, United States. The city's population was 386,261 at the 2020 United States Census with 336,035 residing in Arapahoe County, 47,720 residing in Adams County, and 2,506 residing in Douglas County. Aurora is the third most populous city in the State of Colorado and the 52nd most populous city in the United States.