There are some calculators online, but the equation isn't too bad as long as you're using a spheroid and not a geoid.
Great Circle Distance
d = r⋅arccos(sin(ϕ1)⋅sin(ϕ2)+cos(ϕ1)⋅cos(ϕ2)⋅cos(Δλ))
where r is the radius of the sphere, ϕ1 and ϕ2 are the latitudes of the two points, and Δλ is the difference in their longitudes.