Opportunity, whose mission is to search for signs of ancient water on Mars, completed the marathon on March 24, NASA said.
"This mission isn't about setting distance records; it's about making scientific discoveries," said Steve Squyres, Opportunity principal investigator at Cornell University.
"Still, running a marathon on Mars feels pretty cool," said Squyres.
Today the Red Planet has a breathtakingly thin atmosphere, with conditions deadly to almost every known form of life on Earth, NASA said.
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On a typical drive day, the rover travels only 50 to 100 meters. This gives the rover time to safely traverse the rocky terrain, pause and look for the unknown.
The long-lived rover surpassed the marathon mark during a drive of only 46.9 meters or 154 feet.
"When Opportunity landed on Mars 11 years ago, no one imagined this vehicle surviving a Martian winter, let alone completing a marathon," said Mars Exploration Rover Project Manager John Callas of Jet Propulsion Laboratory (JPL).
Opportunity first uncovered signs of water in deposits near the landing site in Eagle Crater. There were rocks that seemed to have formed in an ancient shallow lake, albeit too acidic for life, the US space agency said.
Next, mission planners set their sights on Endeavour Crater - an enormous pit 14 miles wide and hundreds of meters deep.
Endeavour's depth would offer a look farther back into the history of Mars, to a time when the water was possibly less acidic.