Minneapolis to Milwaukee drive: 24 ranked stops, break in Black River Falls

Trails cross the remains of a fortified Middle-Mississippian town occupied roughly A.D. 1000-1300, including reconstructed stockade sections and two restored platform mounds. The open prairie setting makes the village plan easier to read than at a conventional artifact museum.

Mirror Lake sits below pine-and-oak woods and sandstone cliffs reaching about 50 feet. Hiking remains possible in 2026, but roadwork closes the boat launch, several facilities, and trail access points, so travelers should check current conditions before detouring.

a glacial drumlin with a tower near Milwaukee

a city-park fall made famous by Longfellow’s poem

Thirteen miles of trails cross prairie, forest, and the Willow River valley, with Willow Falls and nearby overlooks as the main destination. The 0.4-mile falls route is short but steep; longer river-bottom routes provide a more gradual outing.

a wide multi-tier fall in Willow River State Park near the Twin Cities

The Dakota call this spot Bdote -- 'where two waters come together' -- and it's literal: walk the Pike Island trail and watch the muddy Minnesota River visibly merge into the clearer Mississippi, one of the few confluences in America where you can see two rivers' colors mix in real time from dry land.

a clifftop over the Wisconsin River

a fun, flowy network near Madison

a hidden slot gorge and falls near Baraboo

More than five miles of trails cross white-oak woods, prairie, fen, and lakeshore. A short wetland boardwalk ends at a wildlife-viewing platform, while the crushed-limestone Prairie Trail provides a gentler accessible option.

a steep climb past a famous balanced quartzite boulder

a German-style brewery with a popular Bier Garten near Madison

An elevated public observation deck puts you at eye level with towboats being raised and lowered more than 10 feet through the lock chamber, while bald eagles, American white pelicans, and cormorants work the churned-up tailwater below year-round.