Epic Midwest Road Trip you have to take in your lifetime: 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 the hush of pine-covered trails, there’s an epic road trip waiting for you right here in the Midwest. This isn’t your average weekend getaway; this is a bucket-list-worthy adventure that takes you 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!
We stayed at Cove Point Lodge, which was pretty centrally located just south of Silver Bay. For the sake of time, 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.
On day 1, we headed to Tettegouche State Park for an morning hike. We hiked Shovel Point trail, a 1.2 mile out and back which had some incredible views. Then we made our way down to the beach, where we enjoyed the sunshine and threw about a million rocks into the water.
We headed right down the road to see Illgen Falls, which is an easy hike from the parking lot and has lots of fun places for kids to play and explore.
We made a quick stop by Palisade’s Head Lookout before we headed 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. Make sure to bring something to sit on here, as the black rocks get hot in the sun!
We made a quick stop for a sweet treat at Burlington Station before heading to Two Harbors Lighthouse. The museum was closed when we visited, so we just walked out along the pier and took in the views. If you have time, definitely check out the museum.
For dinner, we went to Betsy’s Pies, which is 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. Then we headed back to Cove Point Lodge to watch the sunset over the lake and roast some s’mores.
On day 2, we started our morning at Split Rock Lighthouse State Park. They have a great visitor’s center with lots of information on the park, a movie you can watch, and 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.
Next, we headed to Iona’s Beach, which is famous for being covered in salmon colored rocks. We spent several hours here enjoying the water, tossing in rocks, and listening to them “sing”.
In the afternoon, we explored 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!
We made 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.
We started our morning with coffee from Duluth Coffee Company in Canal Park, and then wandered along the Lakewalk and out to the lighthouse pier to watch the ships coming in. We walked across the Aerial Lift Bridge and spent the morning at Park Point, skipping rocks, building sandcastles, and cooling off in the water.
We grabbed lunch from Grandma’s Saloon & Grill, and then wandered around some of the shops in downtown Duluth. There are some great places to find souvenirs, local brews or tasty treats.
In the afternoon, we headed 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.
Then we headed to Jay Cooke State Park, which is just a short drive outside of Duluth, where you will find swinging bridges and waterfalls. There are multiple trails to choose from here, 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 we headed 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
We woke up bright and early and grabbed a coffee from Wonderstate Coffee in downtown Bayfield, then moseyed down for a stroll along the water and peek at the beautiful sailboats as the sun came up.
Then we headed out for our morning adventure – a 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 my kids loved. I also recommend making a stop by the Apostle Islands National Lakeshore Visitor’s Center to grab your passport stamp and a souvenir.
Next, we headed to Meyer’s Beach, which is about 20 minutes outside of Bayfield. Here you can 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 lots of steep drop offs, so I would recommend keeping toddlers in a carrier.
We grabbed dinner at Pier Plaza- they had wonderful fish and chips- and then spent the evening exploring the adorable downtown. There are so many cute shops and lots of paths along the water to stroll- I absolutely loved this sweet little town!
Day 5: Copper Falls & The Porkies
We left Bayfield and drove 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.
Next, we headed to Porcupine Mountains Wilderness State Park, where we enjoyed a picnic lunch before we made the short trek to the Lake of the Clouds. You can hike to this overlook, or there is a parking lot with a short, uphill trail that leads you right to it.
We ended our night in Marquette, Michigan, where we enjoyed a hotel swim and some take out.
Day 6: Presque Isle Park & Pictured Rocks National Lakeshore
After breakfast, we headed to Presque Isle Park to do some exploring. We started by walking out along the pier to see the lighthouse, which is beautiful.
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 STUNNING, 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. Pro tip: there are restrooms along the way.
We checked out McCarty’s Cove in the afternoon, 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, we drove 45 minutes to Munising, Michigan so we could take the evening Pictured Rocks National Lakeshore boat tour. We boarded at 5pm for the 2 hour Spray Falls cruise, and it was great! We got some lovely views of the stunning lakeshore. Make sure to bring a jacket: Lake Superior is cold!
We enjoyed dinner at Tacopotamus in Munising after our boat tour.
Day 7: Pictured Rock & Kitch-iti-kipi
We headed back to Pictured Rocks National Lakeshore for some different views on our last morning. We started in the Visitor’s Center, where my kiddos earned their Jr. Ranger badges. Then, we stopped at 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.
We made a detour by Wagner Falls, 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.
Once we were done exploring Pictured Rocks National Lakeshore, we headed an hour south to Palms Book State Park to see Kitch-iti-kipi spring. This is such a unique experience! You get to ride on a self propelled raft across the crystal clear spring, where you can see the trout swimming underneath you. This 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 making memories that stick.
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 the rest of your life.
