A distinction should be made between the movement of single charges and the movement the electric "signal". The signal is a wave and will propagate along a conductor at the speed of light for that particular kind of conductor.
where epsilon is permitivity and mu is permeability
You may wonder how a DC signal can be a wave. Without getting into the math, a DC signal can be decomposed into into an infinite sum of waves (Fourier analysis).
Ah, yes, you're right, but only trivially. A DC current that has existed from infinity backwards in time and will continue forwards infinitely in time is, of course, simply a voltage constant, and Fourier analysis will also say so, because all the sine waves drop out with amplitude = 0 except at frequency = 0. But we're not interested in a always-on DC current here, because it can't carry any information; instead we want to analyze a step change in voltage levels at time
t from 0 to some DC voltage level (perhaps that is what you meant when you say "DC signal". Also, an AC voltage level would also work here, adding a constant amplitude 60Hz sine wave component). Fourier analysis of this is much more fruitful, and it shows a whole series of harmonics that mutually cancel out except in a small region around
t; there, they all sync up to start rising from 0 to n at the same time. It is the propagation of those wave fronts that sync up at
t you want to investigate the speed of.
By the way, Fourier uses harmonic sine waves at various amplitudes and harmonic frequencies to analyze a voltage phenomenon; you can do the same with exponential waves using LaPlace analysis, and there are literally an infinity of other analysis methods.
The point about insulation, I think, is in the capacitative effect that insulation has between the wire and that nebulous "ground" that completes the circuit. The capacitance between them has the effect of shorting out and eliminating the higher frequencies, thus in effect slowing down the point where the DC level lifts above some certain threshold value (the high frequencies carry that information the most accurately simply because they rise faster) as the wave front proceeds down the wire. The capacitance is a function of the size of the conductor (in x-section area facing the ground), the length of the conductor, the distance separating the conductor and ground, and the dielectric constant of the materials between the conductor and the ground (the "insulation").
This is looking useful, but how can I obtain real-world figures?
You need to consider the frequency response of the medium (wire, wave guide) you are wanting to use. Effectively, the point where the frequency response dives through the 3db below plateau is the highest frequency your wire will carry. The amount of time delay is that wave time period (= 1 / frequency) divided by 4; that is the amount of time required for that frequency to rise from 0 to +v. Divide the distance to be traveled by that time to get the velocity of the wave front (actually, you should use a Lorentz transformation rather than simple division here, so that the maximum speed results in c rather than infinity, but for quick and dirty with real wire available today, this works). Your speed will probably be a rather small fraction of c.