Magmatic continental rifts often constitute nascent plate boundaries, yet long‐term extension rates and transient rate changes associated with these early stages of continental breakup remain difficult to determine. Here, we derive a time‐averaged minimum extension rate for the inner graben of the Northern Kenya Rift (NKR) of the East African Rift System for the last 0.5 m.y. We use the TanDEM‐X science digital elevation model to evaluate fault‐scarp geometries and determine fault throws across the volcano‐tectonic axis of the inner graben of the NKR. Along rift‐perpendicular profiles, amounts of cumulative extension are determined, and by integrating four new 40Ar/39Ar radiometric dates for the Silali volcano into the existing geochronology of the faulted volcanic units, time‐averaged extension rates are calculated. This study reveals that in the inner graben of the NKR, the long‐term extension rate based on mid‐Pleistocene to recent brittle deformation has minimum values of 1.0–1.6 mm yr−1, locally with values up to 2.0 mm yr−1. A comparison with the decadal, geodetically determined extension rate reveals that at least 65% of the extension must be accommodated within a narrow, 20‐km‐wide zone of the inner rift. In light of virtually inactive border faults of the NKR, we show that extension is focused in the region of the active volcano‐tectonic axis in the inner graben, thus highlighting the maturing of continental rifting in the NKR.