3-Day Family-Friendly Itinerary for Minnesota’s North Shore
There’s nothing quite like a road trip along Minnesota’s North Shore. Hugging the edge of Lake Superior, this drive takes you from the vibrant port city of Duluth all the way to the Canadian border, with stops for waterfalls, lighthouses, and small-town charm along the way. It’s one of the most epic family road trips in the Midwest, and with this 3-day itinerary, you’ll have everything you need to plan your own adventure.
Day 1: Duluth to Two Harbors
Morning/Afternoon:
Arrive in Duluth, the gateway to the North Shore. Stroll through Canal Park, watch ships pass under the famous Aerial Lift Bridge, and spend time exploring The Great Lakes Aquarium. Make sure to grab ice cream from Love Creamery or a coffee to fuel your trip from one of the cute, local coffee shops in downtown Duluth.
Afternoon/Evening:
Make a stop in Two Harbors, where you will want to check out Great Lakes Candy Kitchen, Two Harbors lighthouse (take a tour of the museum if they are open), and grab dinner from Betsy’s Pies. Stay the night in Two Harbors.
Day 2: Two Harbors to Silver Bay
Morning:
Your first stop of the morning will be Gooseberry Falls State Park. The short, paved trails make it easy to reach the multiple waterfalls, and your kids will love climbing on the rocks and getting up close to the rushing water.
Make a stop at Iona’s Beach, which is famous for being covered in salmon colored rocks. Spend some time here enjoying the water, tossing in rocks, and listening to them “sing”. There are some picnic tables, so this is the perfect spot for a picnic lunch.
Afternoon:
In the afternoon, head to Split Rock Lighthouse State Park. Check out the visitor’s center, which has tons of information about the park and lighthouse. You can take a tour of the actual lighthouse if you wish. We opted out, and decided to just see it from the shore, which is a short hike on a gravel trail. It’s a beautiful lighthouse, and I highly recommend a stop here.
I also recommend a stop at Black Beach- a unique beach covered in tiny black rocks! The water is cold, but it feels great on a hot day. Make sure to bring something to sit on here, as the black rocks get hot in the sun!
Make one more quick detour at Palisade Head Lookout for some insanely beautiful views out over Lake Superior.
Evening:
End your evening exploring Tettegouche State Park. Hike the Shovel Point trail, a 1.2 mile out and back which had some incredible views. Make sure to head down to the beach on your way back to the Visitor’s Center to toss some rocks into the water and watch the sunset.
If you have some extra time and daylight, hop over to Illgen Falls, which is an easy hike from the parking lot and has lots of fun places for kids to play and explore.
Stay overnight in Silver Bay.
Day 3: Silver Bay to Grand Portage
Morning:
Head north towards Grand Marais, and stop for breakfast and coffee in Tofte. Then strap up your hiking boots and hit the Oberg Mountain Loop (2.3 mile loop, moderate) for some incredible views on top of Oberg Mountain.
Afternoon:
Head to Grand Marais for lunch, then on to Judge CR Magney State Park to see the mysterious Devil’s Kettle waterfall, which is a 2 mile out-and-back hike rated moderate.
Head towards Grand Portage, making a couple of scenic stops along the way at Horseshoe Bay, Hollow Rock Lookout, and Susie Islands Overlook.
Evening:
At the end of the North Shore, you’ll find High Falls, Minnesota’s tallest waterfall, located right along the Canadian border in Grand Portage State Park. The easy 1 mile boardwalk trail makes this a great family stop and a perfect grand finale to your road trip.
Head back to Grand Portage for dinner and your final overnight stay, before backtracking to head home the next day.
Tips for Families
✨ The full drive from Duluth to Grand Portage is about 150 miles, but plan for 2–3 days to really enjoy the stops.
✨ Pack layers; Lake Superior keeps temperatures cool, even in summer.
✨ State parks charge day-use fees, or you can purchase a Minnesota State Parks pass for the year.
✨ Many parks and small towns have great picnic spots, so bring snacks and lunches to enjoy with a view.
Why Families Love This Road Trip
This itinerary blends outdoor adventure, history, and small-town charm in a way that keeps kids engaged and parents inspired. With waterfalls to chase, lighthouses to climb, and towns full of treats and treasures, a road trip along Minnesota’s North Shore is one your family will never forget.
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