We report on the non-equilibrium monopole dynamics in the classical spin ice Dy$_2$Ti$_2$O$_7$ detected by means of high-resolution magnetostriction measurements. Significant lattice changes occur at the transition from the kagome-ice to the saturated-ice phase, visible in the longitudinal and transverse magnetostriction. A hysteresis opening at temperatures below 0.6 K suggests a first-order transition between the kagome and saturated state. Extremely slow lattice relaxations, triggered by changes of the magnetic field, were observed. These lattice-relaxation effects result from non-equilibrium monopole formation or annihilation processes. The relaxation times extracted from our experiment are in good agreement with theoretical predictions with decay constants of the order of $10{^4}$ s at 0.3 K.