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At its most distant, when the two bodies are on the opposite sides of the sun from one another, Pluto lies 4.67 billion miles (7.5 billion kilometers) from Earth. At their closest, the two are only 2.66 billion miles (4.28 billion km) apart.
Do a little math and you'll find that it has taken 9 years, 5 months and 25 days. The Voyager spacecraft did the distance between Earth and Pluto in about 12.5 years, although, neither spacecraft actually flew past Pluto. And the Pioneer spacecraft completed the journey in about 11 years.