RM 584 begins at an intersection with US 277 south of San Angelo. The highway runs west for approximately a mile before turning northwest. RM 584 passes near San Angelo Regional Airport before crossing Lake Nasworthy and entering the city limits of San Angelo. In San Angelo, RM 584 is known locally as Knickerbocker Road and runs through the city's south side. Between Lake Nasworthy and Loop 306, the highway runs by many subdivisions before passing a major retail center just north of Loop 306. North of Loop 306, RM 584 runs just south of Angelo State University before ending at an intersection with US 87/US 277.
