The 17 Best State Parks in Minnesota for Hiking, Camping, and Scenic Views

With its diverse landscapes and four distinct biomes, stretching from the Lake Superior Highlands to the tallgrass prairies of southwestern Minnesota, the Land of 10,000 Lakes is blessed with incredible natural beauty and a rich, multi-faceted history. Fortunately, many of these singular natural areas and historic sites have been protected as state parks, waysides, recreation areas, and trails, packed with scenery like waterfalls and recreational opportunities, such as camping and hiking. Here are some of the best state parks in Minnesota.

Most Popular State Parks in Minnesota

Of the five most popular units in the Minnesota state park system, three are located along the North Shore of Lake Superior. Gooseberry Falls State Park is the most visited park in the system, Tettegouche State Park is fourth, and Split Rock Lighthouse State Park is fifth. The latter two appear in other sections of this list, but you could easily hit these three parks in a single North Shore road trip. The top three most visited parks in Minnesota, on the other hand, showcase a wide variety of our state’s incredible natural landscapes.

1. Gooseberry Falls State Park

• Location: Two Harbors, Minnesota
• Wow Factor: Several waterfalls; stunning North Shore of Lake Superior setting; and rugged Northwoods terrain.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Gooseberry Falls State Park is the most popular of Minnesota's state parks, drawing more than 750,000 visitors annually in recent years. Renowned for its roaring waterfalls, which you can get so close to that the thundering water sprays your face. The park also offers excellent hiking—and hikers who make their way to the Gooseberry River’s Upper Falls, which are more than a mile from the often-crowded visitor center, will enjoy a beautiful, Northwoods waterfall without the throngs of visitors. The rugged Lake Superior shoreline at the park’s picnic area is another beautiful spot at Gooseberry Falls that should not be missed.

2. Fort Snelling State Park

• Location: Minneapolis-St. Paul, Minnesota
• Wow Factor: Located at the confluence of the Minnesota and Mississippi Rivers; sacred spot in the Dakota culture; important historic site.
• Need to Know: Admission to the Fort Snelling historic site requires an additional fee.

Fort Snelling State Park is the second most-visited and by far the most urban of the parks on this list—though you wouldn’t know it when you’re in the park. Despite its location in the heart of the Twin Cities metro area, the park is an excellent spot for hiking in bottomland hardwood forest, lingering on the banks of the state’s two largest rivers, and learning about the area’s lengthy history, as part of the Dakota culture and later as an American military outpost. Fortunately, there's plenty of excellent interpretive signage at Fort Snelling and its excellent visitor center. The adjacent historic fort is managed by the Minnesota Historical Society, and parts of this area overlap with National Park Service units of the Mississippi National River and Recreation Area, including the Coldwater Spring site.

3. Itasca State Park

• Location: Park Rapids, Minnesota
• Wow Factor: Oldest state park in Minnesota; home to headwaters of the Mississippi River; old-growth red and white pine groves.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Itasca State Park is another one of folks’ favorite Minnesota state parks. It’s the oldest in the state—as well as one of the oldest state parks in the U.S.—and it’s the second largest. It’s famously home to the headwaters of the Mississippi River, as well as some of the best-preserved stands of old-growth forest in the Land of 10,000 Lakes. With more than half a million annual visitors, Itasca State Park is open year-round and is popular for hiking, snowshoeing, and cross-country skiing. If you’re interested in kayaking Lake Itasca, rentals are available in the park. The Heartland State Trail, one of the most venerable state hiking and bike trails, will connect to the park in the near future, opening up even more recreational possibilities. Check out our Itasca State Park guide for more information on what to do in this amazing place.

Best State Parks in Minnesota to Camp

There’s really no better way to enjoy what our state parks have to offer than to immerse yourself with an overnight getaway—whether for a night, a weekend, or longer. St. Croix State Park is the largest and has one of the largest varieties of camping options, but we think these four parks are home to some of the best campgrounds in Minnesota, making them our favorites for overnight stays.

4. Frontenac State Park

• Location: Lake City, Minnesota
• Wow Factor: Mississippi River bluffs; hardwood forests; adjacent historic site; incredible views across Lake Pepin to Wisconsin; rock formations.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Frontenac State Park is located between Red Wing and Lake City. The park overlooks Lake Pepin on the bluffs along the Minnesota side of the Mississippi River. Campers will enjoy its variety of options, including 58 drive-in campsites (19 of which are electric), six cart-in sites, and two backpacking sites. Visitors relish the bluff-top trails, dramatic rock formations, and, in the fall, stunning foliage in the hardwood forest. Speaking of fall foliage, Maplewood State Park is another destination that should be on your list when autumn rolls around.

5. Afton State Park

• Location: Afton, Minnesota
• Wow Factor: St. Croix River bluffs and beaches; expansive prairie; bottomland forest; yurts.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Afton State Park is located near the Twin Cities metro, which makes the park a popular location for day visitors. However, its rustic hike-in campground (28 sites) and St. Croix River bluff location make the park seem a world away for those who stay overnight. Enjoy hiking the hardwood forest and bluff-top prairie. Or splash around on the sandy beach along the river banks, where you can also canoe or kayak. If you don’t feel like hiking in and pitching your own tent, the park also offers two yurts, four camper cabins, and a wall tent for lodging.

6. George Crosby Manitou State Park

• Location: Finland, Minnesota
• Wow Factor: Rugged wilderness park; rushing river with waterfalls; hike-in sites only; waterfalls; trout lake; Northwoods setting.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

George Crosby Manitou State Park is another state park that’s perfect for those who love backpacking. Its 21 sites are all hike-in and located at varying distances from the trailhead and parking lot. The park itself is a remote, rugged designated wilderness park—i.e., no front-country amenties, such as electricity, plumbing, or paved roads—located in the Northwoods of the Lake Superior Highlands along the Manitou River. It’s perfect for hiking and stargazing, as well as bird watching and wildlife spotting. The Manitou River has several rapids and small waterfalls along its course. Anglers will enjoy trying their hand on Benson Lake, where four species of trout can be found.

7. Banning State Park

• Location: Sandstone, Minnesota
• Wow Factor: Trails to waterfall and ruins; Kettle River rapids; historic site.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Banning State Park is another wonderful park for campers who want a more intimate camping experience. This park along the Kettle River is home to a campground with 33 drive-in sites (11 electric), five canoe sites, and a camper cabin. The hiking here is fantastic, and the river offers excellent whitewater kayaking or rafting for experienced paddlers, as well as slackwater opportunities above and below the rapids. You’ll find fascinating mill ruins to explore and a waterfall as a reward for your hiking efforts.

Best State Parks in Minnesota to RV

Not all of the best campgrounds in Minnesota are limited to tent or rustic camping. There are plenty of state parks that are perfect for RV enthusiasts, offering longer sites and electric hookups. If you're RV curious and want to see what it's like, try a rental from RV Share—you'll find all sorts of rigs for all levels of experience. Whether you're renting or drive your own, you should definitely consider making your base camp at one of these three state parks in Minnesota.

8. Interstate State Park

• Location: Taylors Falls, Minnesota
• Wow Factor: St. Croix River Dalles; glacial potholes; rock formations.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Interstate State Park is a fantastic park for hiking, fishing, paddling the St. Croix River, and exploring the area’s incredible geology, which includes glacial potholes, as well as exposed volcanic rock that’s more than a billion years old. Rock climbing is also a popular activity at Interstate. The park’s campground is small—only 37 sites—but 22 sites have electric hook-ups, and all can accommodate RVs up to 45 feet in length. This park is less than an hour from much of the Twin Cities metro area, so it can be busy, especially on summer weekends when folks looking to cool down get out on the St. Croix.

9. Whitewater State Park

• Location: Altura, Minnesota
• Wow Factor: Rugged driftless area bluffs; trout fishing; hardwood forests.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Whitewater State Park is located in the heart of Minnesota’s Bluff Country and features dramatic limestone cliffs and rock formations that were spared from glaciation during the last ice age. Hikers will find plenty to explore, and trout anglers will enjoy the challenge of fishing the Whitewater River. The park is also known for its low mosquito population, thanks to the absence of standing water in the area. Whitewater is home to two good-sized campgrounds, which boast a combined total of 110 drive-in sites that can accommodate vehicles up to 50 feet in length. Of these, 85 offer electric hook-ups and 13 are pull-through sites. You'll also find hike-in and cart-in sites, as well as a handful of camper cabins that are popular year-round.

10. Split Rock Lighthouse State Park

• Location: Beaver Bay, Minnesota
• Wow Factor: Historic site on the rugged North Shore of Lake Superior; incredible hiking trails.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee. Admission to the Split Rock Lighthouse historic site requires an additional fee.

Not long ago, if you wanted to camp at Split Rock Lighthouse State Park, home to dramatic Lake Superior shoreline, panoramic views, and rugged hiking into the highlands, you’d have to cart, hike, or paddle into your site. In 2022, however, the park opened its Shipwreck Creek Campground, which boasts 46 drive-in, electric sites, most of which can accommodate vehicles or combinations up to 70 feet long. The park is adjacent to the Split Rock Lighthouse historic site, which is definitely worth a visit.

Best State Parks in Minnesota for Hiking

For those who love to hiking, backpacking, snowshoeing, or simply walking in the woods or across the prairie, you’ll find many of the best hiking trails in Minnesota in its state parks. Among those, we think the following parks are absolute tops for trail lovers.

11. Tettegouche State Park

• Location: Silver Bay, Minnesota
• Wow Factor: Superior Hiking Trail; rock formations along the North Shore of Lake Superior; Baptism River High Falls.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

There may not be a better park for hiking in the Land of 10,000 Lakes than Tettegouche State Park. Tettegouche. The park is home to some of the most beautiful and rugged terrain in Minnesota, with plenty of elevation gain and payoffs for hikers, like the Baptism River High Falls, which is the tallest waterfall that we don’t share with Canada. The shoreline is also incredible and includes dramatic Shovel Point, as well as rock-climbing mecca Palisade Head, which, at 300 feet, is the tallest cliff on the American side of Lake Superior. In addition to hiking, the park is open for year-round recreation like winter camping, snowshoeing, cross-country skiing, kayaking, and backpacking (the Superior Hiking Trail/North Country National Scenic Trail passes right through the park).

12. Blue Mounds State Park

• Location: Luverne, Minnesota
• Wow Factor: Incredible Sioux quartzite rock formation; bison herd.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Rising dramatically from the tallgrass of western Minnesota, the upwelling of pink Sioux quartzite that comprises Blue Mounds State Park's signature geological feature appeared blue when settlers traveling over the prairie espied it from a distance and, thus, gave the park its name. Today, this same ridge is what makes the park such a sweet spot for hiking and exploring. Rock climbers love this park, too. A portion of the Minnesota state bison herd is also located at the park and offers yet another reason to visit.

13. Jay Cooke State Park

• Location: Carlton, Minnesota
• Wow Factor: Stunning St. Louis River gorge; rapids; scenic Northwoods setting; iconic swinging bridge; Superior Hiking Trail.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Jay Cooke State Park is a Northwoods treasure before you even get to the North Shore. The southern terminus of the Superior Hiking Trail/Minnesota segment of the North Country National Scenic Trail starts just outside Jay Cooke State Park and follows most of this dramatic park’s length. This wild park on the St. Louis River is just outside of Duluth but feels a million miles away. Hikers will enjoy a deep Northwoods setting, rugged terrain, and views of rapids that are rated as high as class III. An iconic swinging bridge connects the trails on the south side of the park to the campground, trails, and visitor center on the park’s north side.

14. Grand Portage State Park

• Location: Grand Portage, Minnesota
• Wow Factor: Highest waterfall in Minnesota; rugged Northwoods terrain; views to Canada.
• Need to Know: Admission to the state park by car is free. This park is day-use only, so no camping is permitted.

Another North Shore park with a dramatic Northwoods setting, Grand Portage State Park is located about 45 minutes beyond Grand Marais on the Canadian border. It’s a day-use-only park, but it’s a perfect place to spend some time stretching your legs after the drive to get there—and you almost certainly drove to get there. You’ll learn about the history of the park’s eponym, the Grand Portage, and can visit several waterfalls along the Pigeon River, which demarcates the international border, including the High Falls—which is the highest waterfall in Minnesota. It's also a wonderful place for birding and wildlife spotting.

Little-Known State Parks in Minnesota

Whether due to location or falling in the shadow of a more popular neighbor—or any number of other reasons—some Minnesota state parks simply don’t receive the same amount of love as others. This, however, makes these lesser-known Minnesota state parks perfect for those who want a state park getaway without the crowds—or maybe just a weekend camping reservation in the summer. Here’s a trio of our favorite places for an uncrowded park experience.

15. Zippel Bay State Park

• Location: Williams, Minnesota
• Wow Factor: Northwoods setting; sandy beach along one of the largest lakes in America; many migratory bird species; marina.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Zippel Bay State Park is located on Lake of the Woods’ southern shore and nowhere near a major population center. Despite its modern marina, sandy beaches, and wooded campsites, it just doesn’t receive that many visitors. This makes it an awesome place to set up a base camp to explore this less-traveled part of Minnesota. From Zippel Bay, you can get to Franz Jevne State Park, Big Bog State Recreation Area, and the charming town of Warroad, all in under an hour.

16. Carley State Park

• Location: Plainview, Minnesota
• Wow Factor: Home to some of the best spring wildflowers in the state; Bluff Country setting; hardwood forest; excellent hiking; rushing river.
• Need to Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Carley State Park is the lesser-known sibling of nearby Whitewater State Park—but you’ll still find wonderful hiking and fishing, as well as a small campground. The coolest thing about this park, though, comes in the spring when the wildflowers, including Virginia bluebells, carpet the floor of the park’s hardwood forest. It does get a little more crowded then, but most of the rest of the year, you’ll find plenty of peace.

17. Hayes Lake State Park

• Location: Roseau, Minnesota
• Wow Factor: Multiple ecosystems in park, including peatland bog and Northwoods forest; quiet lake.
• Need To Know: Admission to the state park by car requires a permit, which costs $35 per year or $7 per day. Camping reservations require an additional fee.

Hayes Lake State Park is surrounded by Beltrami Island State Forest—Minnesota’s second largest. The park is an unassuming natural area in northwestern Minnesota. In addition to the lake from which the park draws its name, you’ll find hiking trails through Northwoods forest, as well as a boardwalk trail through a peatland bog. Swimming, boating, paddling, and fishing are also popular pastimes at this quiet Minnesota state park on the edge of one of the Bold North's vastest wilderness areas.

Of the more than 80 state parks, recreation areas, and waysides in the Land of 10,000 Lakes, we think these represent the cream of the crop, the best state parks in Minnesota. For more information about any of these parks, visit their individual pages on the Minnesota DNR website. For camping or other lodging reservations, check out the DNR's overnight stays page.