We report a two-detector measurement of the propagation speed of neutrinos over a baseline of 734 km. The measurement was made with the NuMI beam at Fermilab between the near and far MINOS detectors. The fractional difference between the neutrino speed and the speed of light is determined to be $(v/c-1) = (1.0 \pm 1.1) \times 10^{-6}$, consistent with relativistic neutrinos.