Epic Midwest Road Trip: The North Shores of Minnesota to the Upper Peninsula of Michigan

If you’re the kind of traveler who craves misty waterfalls, lighthouse views, and a quiet pine-covered trail, there’s an epic Midwest road trip waiting for you right here. This isn’t your average weekend getaway; this is a bucket-list-worthy adventure that takes you on a week long Lake Superior road trip from Minnesota’s rugged North Shore to Michigan’s wild Upper Peninsula, and everywhere in between.

It’s seven days of lakeside cliffs, hidden swimming holes, small-town pie shops, and some of the most jaw-dropping landscapes the Midwest has to offer.

Here’s exactly how to do it:

Day 1 & 2: North Shores, Minnesota

The North Shores of Minnesota are incredible. Hands-down one of the most beautiful places in our country. You could easily spend a week (or more!) exploring the North Shores alone, but this itinerary was created to squeeze a lot of incredible places into one week so you can see and do as much as possible. Feel free to extend your time in the North Shores as long as you would like!

I highly recommend staying at Cove Point Lodge during your time on the North Shore. For the sake of time on this trip, we didn’t go all the way up north to Lutsen or Grand Marais, although I definitely recommend exploring those areas if you have time.

Day 1:

Start your morning by heading to Tettegouche State Park for an morning hike. I highly recommend Shovel Point Trail, a 1.2 mile out and back which has some incredible views. Then, make your way down to the beach, where you will enjoy the sunshine and stunning Lake Superior views, and your kids will enjoy throwing about a million rocks into the water.

After you’re done here, head right down the road to see Illgen Falls, an epic waterfall that is an easy hike from the parking lot and has lots of fun places for kids to play and explore.

Make sure to stop by Palisade’s Head Lookout to see this iconic Instagram worthy spot, and then head to Black Beach to spend the afternoon. This is such a unique beach, covered in tiny black rocks! The water is cold, but it felt great on a hot day.

Pro tip: Make sure to bring something to sit on here, as the black rocks get hot in the sun! We love this giant roll up blanket for beach trips.

Make a quick stop for a sweet treat at Burlington Station before heading to Two Harbors Lighthouse. You can explore the small museum here, or just walk out along the pier and take in the views.

For dinner, you definitely need to check out Betty’s Pies – a must visit spot in the area. The food and pies were both delicious! It is popular, so come prepared to wait a bit for a table, but I promise it’s worth the wait. After diner, head back to Cove Point Lodge to watch the sunset over the lake and roast some s’mores.

Day 2:

Start your morning at Split Rock Lighthouse State Park. They have a wonderful visitor’s center with lots of information on the park, a movie you can watch, and tours of the lighthouse. We opted out of the formal tour and decided to see it from the shore, which is a short hike on a gravel trail. It’s a beautiful lighthouse and makes for some amazing photos!

Next, head to 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”.

In the afternoon, explore Gooseberry Falls State Park, which is home to several stunning waterfalls that are easily accessible. Bring shoes your kids can get wet in, because they definitely will not be able to resist splashing in the water!

Make a stop at Great Lakes Candy Kitchen for a sweet treat before we headed into Duluth for the night.

Day 3: Duluth & Jay Cooke State Park

Duluth is one of those Midwest towns that you just can’t get out of your head after you visit. This port city feels like part maritime museum, part modern-day adventure hub, and honestly, one day here is just not quiet enough.

Start your morning with coffee from Duluth Coffee Company in Canal Park, and then wander along the Lakewalk and out to the lighthouse pier to watch the ships coming in. Make sure to cross the Aerial Lift Bridge and spend some time at Park Point, skipping rocks, building sandcastles, and cooling off in the water.

Grab lunch from Grandma’s Saloon & Grill, and then wander around some of the shops in downtown Duluth. There are some great places to find souvenirs, local brews or a sweet treat.

In the afternoon, head to The Great Lakes Aquarium, which is a great spot for families to enjoy and learn about the wildlife native to the area. If you have more time to explore, I highly recommend the Duluth Passport, which gives you a great deal on admission to the aquarium and the North Shore Scenic Railroad.

In the afternoon, head to Jay Cooke State Park, which is just a short drive outside of Duluth. Here you will find swinging bridges, epic lookouts and stunning waterfalls. There are multiple trails to choose from, or you can just spend some time exploring and soaking in the scenery.

About 30 minutes from Jay Cooke State Park is Pattison State Park, which has a beautiful waterfall trail that is a short hike from the parking lot. If you have time, I highly recommend a stop to see Big Manitou Falls, a 0.8 mile loop that takes you through an underground tunnel and over a picturesque bridge to the stunning waterfall.

Then head east to Bayfield, Wisconsin, which is about 2 hours away, and checked into The Seagull Bay Motel for the night.

Day 4: Bayfield, Wisconsin & The Apostle Islands

You are going to want to start your day early with coffee from Wonderstate Coffee in downtown Bayfield, and then take a stroll along the water and admire all the beautiful sailboats as the town wakes up.

After breakfast, head out for your morning adventure – a family-friendly guided kayak tour with Rustic Makwa Den to see some of the sea caves. We took the Red Cliff Sea Caves Tour, which was about 2.5 hours long and is great for all ages.

They even offer kayaks with 3 seats, which is great if you are a family of 5 like us. This tour takes you over top a 100 year old ship wreck and through several sea caves – a must do!

After lunch, head to the Bayfield Maritime Museum. This free museum is a fun way to learn about the history of Bayfield, and they have a scavenger hunt that your kids will love. I also recommend making a stop by the nearby Apostle Islands National Lakeshore Visitor’s Center to grab your passport stamp and a souvenir.

Next, head to Meyer’s Beach, which is about 20 minutes outside of Bayfield. Spend your day relaxing on the beach, or if you are feeling adventurous, hike the 4 mile Lakeshore Trail for some epic views of the Apostle Island National Lakeshore. While this trail isn’t difficult, there are some steep drop offs near the edge, so I would recommend keeping toddlers in a carrier.

Grab dinner at Pier Plaza – they had wonderful fish and chips – and then spend the evening exploring the adorable downtown. There are so many cute shops and lots of paths along the water to stroll.

Day 5: Copper Falls & The Porkies

Head out of Bayfield and drive 1 hour to Copper Falls State Park for some incredible hiking and stunning waterfall views. We hiked the Doughboy Trail, which was just over 2 miles and was moderate difficulty, but it had some of the most incredible waterfalls and scenery I’ve ever seen.

Next, head to Porcupine Mountains Wilderness State Park, where you can enjoy a picnic lunch before hiking the short trail to the Lake of the Clouds.

End your night in Marquette, Michigan. We stayed at the Holiday Inn and found it clean and comfortable.

Day 6: Presque Isle Park & Pictured Rocks National Lakeshore

After breakfast, head to Presque Isle Park to do some exploring. Make sure to walk along the pier to see the lighthouse, which is stunning.

Most days, you can drive your car along the 2.7 mile loop, but certain days of the week they close it off to vehicles and open it only to foot traffic. We happened to visit on one of these days, so we enjoyed the scenic walk. The lookouts are incredible, and even if you drive, I highly recommend making several stops along the loop to get out and soak in the view.

Definitely make a stop at Black Rocks, where you can go for a swim, cliff jump, or just soak up some sunshine. It is such a beautiful and peaceful spot – my favorite of the whole trip! Bring a snack and enjoy spending the day here.

In the afternoon, check out McCarty’s Cove, which is a great, sandy beach with views of the Harbor Lighthouse. You can also take a guided tour through the lighthouse if you wish.

In the late afternoon, make the 45 minutes to Munising, Michigan so you can catch the evening Pictured Rocks National Lakeshore boat tour. We boarded at 5pm for the 2 hour Spray Falls cruise, and it was fantastic. Not only will you get lovely views of the stunning lakeshore, but you will learn so much history of Lake Superior along the cruise.

Pro tip: Make sure to bring a jacket – Lake Superior is cold!

Enjoy dinner at Tacopotamus in after your boat tour, and then check into The Holiday Inn Express in Munising for the night.

Day 7: Pictured Rock & Kitch-iti-kipi

For your last morning, head back to Pictured Rocks National Lakeshore for some different views of this stunning coastline. Make sure to stop at the Visitor’s Center, where your kiddos can earned their Jr. Ranger badges, and head to the Upper Overlook for some awesome views of the lakeshore. This is an easy to access overlook, with paved walking paths that take you to several viewpoints along the lakeshore.

You can make a detour by Wagner Falls, which is an easy to access waterfall a short distance from the parking lot that packs a punch and is well worth a stop before you leave Munising.

After you finish exploring Pictured Rocks National Lakeshore, head an hour south to Palms Book State Park to see Kitch-iti-kipi spring. This is such a unique experience! You take a ride on a self propelled raft across the crystal clear spring, where you can see the trout swimming underneath you. It is a popular spot, so come prepared to wait a bit, or try and hit the park later in the day after most of the crowds have gone.

Ready to hit the road? Save this itinerary and start planning this epic Midwest road trip

This is more than just a road trip—it’s a journey through the best of the Midwest’s wild spaces and small-town charm. From the wave-splashed cliffs of Minnesota’s North Shore to the storybook lighthouses of Wisconsin and the rugged beauty of Michigan’s Upper Peninsula, this route is about slowing down, soaking it all in, and fill the pages of your photo album with some incredible memories.

Whether you’re hiking, paddling, swimming, or just staring out at the lake with a piece of pie in hand, this is a trip you’ll talk about for a long time.