Generally speaking, the Dept of Energy did a study to determine, on average, the decrease in mpg from 55 mph and above. There is a website with a free calculator that lets you input your car's mpg at 55 + the miles driven daily + your local cost per gallon of fuel.
http://www.mpgforspeed.com/
Each engine has a specific range of RPM where it operates at maximum efficiency and driving outside this range contributes to lower mpg. Also your engine uses about 40% of it's energy just pushing the car against the air to move it forward.
For me, I get 24mpg at 55, 20mpg at 70, and 17mpg at 80. I lose 7 miles per gallon by driving at 80mph instead of 55mph. Per the study, the average engine is nearly 30% LESS efficient at 80mph Vs 55mph.