Inver Grove Heights is a city in Dakota County, Minnesota, United States. The population was 35,801 at the 2020 census. The city was formed on March 9, 1965, with the merger of the village of Inver Grove and Inver Grove Township. It is one of 186 cities and townships in the seven-county Minneapolis-Saint Paul metropolitan area. Inver Grove Heights is 9 miles southeast of Saint Paul; nearby communities are South St. Paul, West St. Paul, Sunfish Lake, Eagan, Newport, and Saint Paul Park.