Sticks & Sparks

Minnesota Outdoor Guide: Campgrounds, Trails, Beaches & RV Spots

Split Rock Lighthouse, North Shore of Lake Superior, Minnesota

Photo: Lorie Shaull / Wikimedia Commons, CC BY-SA 2.0

Key Takeaways

Minnesota’s North Shore of Lake Superior is genuinely one of the best short-hike-plus-waterfall regions in the country — Gooseberry Falls, Tettegouche, and Split Rock Lighthouse are all worth building a trip around
Book North Shore state park campgrounds 120 days out — summer and fall-color weekends vanish within hours of the window opening
Lake Superior itself is often too cold to swim even in summer — plan for inland lakes (Itasca, Mille Lacs, Minnetonka) if actual swimming is the priority
The Boundary Waters offer genuine wilderness hiking and paddling for families ready for a bigger commitment than a day trip

Land of 10,000 Lakes, Plus a Genuinely Great Coastline

Minnesota’s reputation for lakes is well-earned, but the North Shore of Lake Superior is the real standout — dramatic waterfalls, gorges, and cliff-top views that rival much bigger-name destinations.

Campgrounds

Gooseberry Falls State Park — Two Harbors

Gooseberry Falls State Park — Two Harbors

The most popular North Shore campground, with about 70 reservable non-electric sites plus kayak-in options. Tent-focused rather than RV-friendly. Reserve 120 days out — summer and fall-color weekends disappear within hours. Wake early if you want the falls to yourself.

Split Rock Lighthouse State Park — Two Harbors

Split Rock Lighthouse State Park — Two Harbors

A cart-in campground of about 20 lakeside sites reached by a short walk, consistently called some of the best camping in the state. A newer drive-in RV area (Shipwreck Creek Campground) also exists if you need vehicle access.

Tettegouche State Park — Silver Bay

Tettegouche State Park — Silver Bay

Drive-in and cart-in sites near the Baptism River gorge and a Lake Superior cobble beach. The base for Minnesota’s tallest waterfall and the dramatic Shovel Point cliffs.

Itasca State Park — Park Rapids

Itasca State Park — Park Rapids

Minnesota’s oldest state park, camping at the Mississippi River headwaters with a swim beach and old-growth pines — a genuinely different Minnesota experience than the North Shore.

Bear Head Lake State Park — Ely

Bear Head Lake State Park — Ely

Secluded northwoods lake camping near the Boundary Waters — a good pick if your family wants a quieter, more remote feel.

Hiking Trails

Gooseberry Falls — Fifth Falls Loop — Two Harbors

Gooseberry Falls — Fifth Falls Loop — Two Harbors

About 3.1 miles past three waterfalls and a walking bridge — the most popular hike on the North Shore, moderate and genuinely family-friendly, with accessible viewpoints at the Upper Falls.

Tettegouche — High Falls & Two Step Falls — Silver Bay

Tettegouche — High Falls & Two Step Falls — Silver Bay

Three waterfalls including Minnesota’s tallest, reached via wooden walkways and a suspension bridge. Download the trail map before you go — signage on the ground is sparse.

Tettegouche — Shovel Point — Silver Bay

Tettegouche — Shovel Point — Silver Bay

An easy roughly 1.5-mile round trip to panoramic Lake Superior cliff views. Rock climbers are often visible below — a fun bonus for kids.

Superior Hiking Trail (day segments)

Superior Hiking Trail (day segments)

Roughly 300 miles total, but accessible in 5-mile-or-less segments from most North Shore state parks. Fall color along this trail is genuinely spectacular.

Eagle Mountain Trail — Superior National Forest

Eagle Mountain Trail — Superior National Forest

About 7 miles round trip to Minnesota’s highest point. Moderate-to-difficult — a good step up once your family’s comfortable with the shorter North Shore hikes.

Beaches / Lakes & Swimming Areas

Lake Itasca — Itasca State Park

Lake Itasca — Itasca State Park

Swim at the actual Mississippi River headwaters, with a sandy beach and family programs. A genuinely unique swimming spot.

Lake Minnetonka — western Twin Cities

Lake Minnetonka — western Twin Cities

Clear water with many public access points — the easiest lake day if you’re based near Minneapolis.

Mille Lacs Lake — Garrison/Isle

Mille Lacs Lake — Garrison/Isle

A large sandy beach, clear and deep — the Brainerd-area family hub for lake days.

Lake Bemidji State Park — Bemidji

Lake Bemidji State Park — Bemidji

Sandy-bottom swimming paired with a genuinely great playground.

Park Point — Duluth

Park Point — Duluth

A long sandy beach right along Lake Superior — good for a beach walk and agate hunting, though the water itself is often too cold to swim even in summer.

RV Spots

Burlington Bay Campground — Two Harbors

Burlington Bay Campground — Two Harbors

The North Shore’s most RV-oriented public option, with a mix of full-hookup and electric/water sites, walkable to Lake Superior.

Indian Point Campground — Duluth

Indian Point Campground — Duluth

Spacious sites ranging from tent to full-hookup on the St. Louis River, at reasonable rates.

Black Beach Campground — Silver Bay

Black Beach Campground — Silver Bay

A newer campground with mostly full-hookup sites and a playground — a good modern option on the North Shore.

Temperance River State Park — Schroeder

Temperance River State Park — Schroeder

Electric sites near the river gorge and a Lake Superior beach — the best in-park North Shore electric option, though trees can obstruct lake views from some sites.

Planning Your Trip

The North Shore should anchor any Minnesota trip focused on scenery — Gooseberry Falls and Tettegouche give you the best combination of waterfalls, cliffs, and short family hikes anywhere in the state. Just book 120 days ahead and don’t expect to swim in Lake Superior itself; save actual swimming for an inland stop like Itasca or Mille Lacs on the way in or out.