We develop a new algorithm for the estimation of rare event probabilities associated with the steady-state of a Markov stochastic process with continuous state space $\mathbb R^d$ and discrete time steps (i.e. a discrete-time $\mathbb R^d$-valued Markov chain). The algorithm, which we coin Recurrent Multilevel Splitting (RMS), relies on the Markov chain's underlying recurrent structure, in combination with the Multilevel Splitting method. Extensive simulation experiments are performed, including experiments with a nonlinear stochastic model that has some characteristics of complex climate models. The numerical experiments show that RMS can boost the computational efficiency by several orders of magnitude compared to the Monte Carlo method.