The two parts of the cost
Card issuers typically charge a flat late fee — often around $40 — and then raise the APR on the balance to a penalty rate, usually about 29.99%, for a set period. The fee is a one-off; the penalty rate is a monthly charge applied to everything you still owe.
So the real cost is the fee plus the gap between your regular interest and the penalty interest over however long the higher rate stays on. On a $5,000 balance, the difference between 22.5% and 29.99% is roughly $31 of extra interest in the first month alone — on top of the $40 fee.