A Minnesota road trip is one of the best ways to experience the beauty of the state. While most out-of-towners associate our state with Minneapolis and St. Paul, there are so many more things to do in Minnesota beyond the Twin Cities. And even when you cut out the state’s other popular destinations -like the North Shore - Minnesota still offers plenty of beauty for locals and visitors to enjoy.

Today, we want to remind you why some of the best day trips in Minnesota may be in less-expected parts of the state. Below, you’ll find one of the most scenic drives in Minnesota that will make you fall in love with our state all over again. It will guide you to beautiful lakes, waterfalls, prairies, and more. Curious to know more? Read on to learn about the route so you can start planning your trip!

Because the Twin Cities and North Shore get so much attention, we decided to focus this trip on southern and southwestern Minnesota. This route covers about 260 miles and includes just over 5 hours of driving time. It would make for a great weekend adventure too!

Tap or click on the above map to navigate or follow along on this scenic road trip in Minnesota.

1. Frontenac State Park

Our road trip begins on Minnesota’s eastern border, at Frontenac State Park. This beautiful park in Lake City includes spectacular views of the Mississippi River. More specifically, the hiking trails, scenic vantage points, and picnic areas look out over Lake Pepin. Visitors can climb up bluff trails, check out a historic stone quarry, look for wildlife in the woods, and enjoy the beautiful blufftop views. Take a look at Frontenac State Park to learn more about this Minnesota road trip stop.

2. Nerstrand Big Woods State Park

After you’re finished at Frontenac, drive about 50 miles east to Nerstrand Big Woods State Park. Named after its lovely woods, which include sugar maple, oak, hickory, ash, elm, and basswood, Nerstrand is a great stop for nature enthusiasts. Wildflowers bloom in the spring and summer, and you can even see endangered trout lilies along a special boardwalk trail. Many don’t realize that there’s also a stunning waterfall hidden in the woods here. Aptly named Hidden Falls is a 20-foot waterfall that offers lovely views in any season. Learn why Nerstrand Big Woods State Park will be another highlight on your road trip from Minnesota.

3. Minneopa State Park

Minneopa State Park is home to one of Minnesota’s most well-known waterfalls! It’s about 60 miles west of Nerstrand Big Woods, and it makes for a perfect stop if you’d like to continue looking for waterfalls. Minneopa is much larger, with a double drop 50 feet into a sandstone gorge. Picturesque bridges make it look like something from a fairy tale, and a steep yet lovely hike will bring you down to the base of the falls. When you’re finished, drive through the bison area for a chance to see where in Minnesota buffalo roam!

4. Lake Shetek State Park

Keep heading west for about 90 miles to Lake Shetek State Park, the next stop on your scenic drive in Minnesota. This is a little-known park near Minnesota’s southwestern corner. The little-known park is centered on Lake Shetek, a lovely body of water that offers boating, fishing, and swimming. There’s a sandy beach for summertime adventures, a boat landing, and even a fishing pier where people often pull in walleye, pike, perch, crappies, and catfish. The park even has an island that you can walk to via the Loon Island Causeway. This is a great place for adventure that many Minnesotans have never even heard of!

5. Pipestone National Monument

Most Minnesotans know that our state has a national park, Voyageurs National Park up north. But few realize that we also have a national monument. Pipestone preserves quarries used by many different Native American groups for centuries. They quarried pink quartzite from the area to make ceremonial pipes. Today, the quarries are still used by some groups, and they are still considered sacred. Visitors looking for things to do in Minnesota can see the quarries, hike along beautiful trails between gorgeous quartzite cliffs, and even see Winnewissa Falls, a little-known Minnesota waterfall!

6. Blue Mounds State Park

South of Pipestone, Blue Mounds State Park has even more of the area’s pink quartzite cliffs. These unique cliffs - found in no other part of Minnesota - rise over a vast prairie. Prairie grasses wave in the wind, and wildflowers - and even prickly pear cacti - grow here. Visitors may hike along the cliffs, explore wooded areas, and even look for the bison that roam the prairie. Adventurous visitors can even do rock climbing while taking time out on their Minnesota road trip.

7. Touch the Sky Prairie

Our road trip from Minnesota ends at a little-known part of the state. For some, it may be difficult to see the beauty of this flat, grass-filled prairie. But Touch the Sky’s quiet beauty will impress you if you look closely. The area preserves native tallgrass prairie and wildflowers. In the summertime, you may spot butterflies and other critters hiding among the greenery. And if explore, you can even find a rare prairie waterfall trickling through the grass!

There you have it! What would you add to this road trip? Are there any other beautiful spots in Minnesota that you’re itching to visit? Let us know in the comments!

To help you prepare for your Minnesota road trip with your family, take a look at our Road Trip Essentials Packing List & Guide. Here, you'll find everything you need to plan for a comfortable, fun, and memorable adventure with your loved ones. And if you’d like to follow another beautiful journey, check out our waterfall road trip through Minnesota.