Inver Grove Heights is a city in Dakota County, Minnesota, United States. The population was 33,880 at the 2010 census.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.