Good news is that we can try to estimate it and get an average value. As a general rule of thumb you can try using is that you will burn 100 calories per mile for a 160 pound person.
Here is another way of looking at it.
Want to get even more specific? There are many calories burning calculators for free online or available in app form for free.
1)Here is one as a free download from cnet.com

2)Here is an calorie counter app available for android users that tracks how many calories you burn as well as take in. You can get it here
3)Don't want a download? Just want a quick check online? There is a very detailed calculator at NutritonData.com