Let $\mathcal A$ be the adjacency matrix of a random $d$-regular graph on $N$ vertices, and we denote its eigenvalues by $λ_1\geq λ_2\cdots \geq λ_{N}$. For $N^{2/3}\ll d\leq N/2$, we prove optimal rigidity estimates of the extreme eigenvalues of $\mathcal A$, which in particular imply that \[ \max\{|λ_N|,λ_2\} <2\sqrt{d-1} \] with overwhelming probability. In the same regime of $d$, we also show that \[ N^{2/3}\bigg(\frac{λ_2+d/N}{\sqrt{d(N-d)/N}}-2\bigg) \overset{d}{\longrightarrow} \mathrm{TW}_1\,, \]where $\mathrm{TW}_1$ is the Tracy-Widom distribution for GOE; analogues results also hold for other non-trivial extreme eigenvalues.