We reveal a continuous dynamical heating transition between a prethermal and an infinite-temperature stage in a clean, chaotic periodically driven classical spin chain. The transition time is a steep exponential function of the drive frequency, showing that the exponentially long-lived prethermal plateau, originally observed in quantum Floquet systems, survives the classical limit. Even though there is no straightforward generalization of Floquet’s theorem to nonlinear systems, we present strong evidence that the prethermal physics is well described by the inverse-frequency expansion. We relate the stability and robustness of the prethermal plateau to drive-induced synchronization not captured by the expansion. Our results set the pathway to transfer the ideas of Floquet engineering to classical many-body systems, and are directly relevant for photonic crystals and cold atom experiments in the superfluid regime.