Aurora is a home rule city located in Arapahoe, Adams, and Douglas counties, Colorado, United States. The city's population was 386,261 at the 2020 United States census with 336,035 residing in Arapahoe County, 47,720 residing in Adams County, and 2,506 residing in Douglas County. City of Aurora corporate office is located in 15151 E Alameda Pkwy Ste 4600, Aurora, Colorado, 80012, United States