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We did that leaving Yellowstone last summer by Flann

amd I'd also highly reccomend it. Beartooth Pass was breathtaking. Lamar Valley on the way out of the park is incredibly picturesque; tons of bison all over. That drive can take a while with bison backing up traffic in YNP and all the relatively slow drive with all the switchbacks through Beartooth. It felt like we were going up for ever. We only made it to Billings that day, although we were coming from the western side of the park after lunch (Artists Paint pots). So if you got off to an early start/ were coming from further north or east in the Park going to the battlefield that day should be possible.

It's tempting to continue onto Devil's Tower the next day, then the Black Hills. Stay in Custer, drive the Needles Parkway in the morning on the way out before it gets crowded and then onto the Badlands before heading back.