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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 Ar-40/Ar-39 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.