Unlike other forms of transportation, rockets are commonly designed for putting objects into orbit. Once in sufficiently high orbit, objects have almost negligible air drag, and the orbits decay so slowly that a satellite can be still orbiting decades after launch. For these reasons rocket and space propulsion efficiency is rarely measured in terms of distance per unit of fuel, but in terms of specific impulse which gives how much change in momentum (i.e. impulse) can be obtained from a unit of propellant.
However, to give a concrete example, NASA's space shuttle fires its engines for around 8.5 minutes, consuming 1,000 tons of solid propellant (containing 16% aluminium) and an additional 2,000,000 litres of liquid propellant (106,261 kg of liquid hydrogen fuel) to lift the 100,000 kg vehicle (including the 25,000 kg payload) to an altitude of 111 km and an orbital velocity of 30,000 km/h. With a specific energy of 31MJ per kg for aluminum and 143 MJ/kg for liquid hydrogen, this means that the vehicle consumes around 5 TJ of solid propellant and 15 TJ of hydrogen fuel.
Once in orbit at 200 km and around 7.8 km/s velocity, the orbiter requires no further fuel. At this altitude and velocity, the vehicle has a kinetic energy of about 3 TJ and a potential energy of roughly 200 GJ. Given the energy input of 20 TJ, the Space Shuttle is about 16% energy efficient at launching the orbiter and payload just 4% efficiency if the payload alone is considered.
If the Space Shuttle were used to transport people or freight from a point to another on the Earth, using the theoretical largest ground distance (antipodal) flight of 20,000 km, energy usage would be about 0.04 MJ/km/kg of payload.
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