The third stage varies depending on the configuration required for the payload: a Minuteman II M57A1 stage is used on the baseline configuration, whilst the Minotaur II+ uses an SR-73-AJ.

The Minotaur II Lite is a two-stage configuration, without a third stage.

A heavy configuration is also available, with an Orion 50XL third stage, as used on the Minotaur I.

The baseline configuration can propel a 400 kilograms (880 lb) payload 4,000 kilometres (2,500 mi) downrange, whilst the heavy configuration can place 1,400 kilograms (3,100 lb) onto an 8,000-kilometre (5,000 mi) trajectory.

Nine Minotaur II rockets have been launched as of July 2022, with six flights using the baseline configuration and three using the Minotaur II+ configuration.