Ashlyn HayesI’m excited about this one- I’m taking you to my home state of Minnesota! I’ve explored the Minnesota North Shore more times than I can count. This stunning stretch of Lake Superior coastline from Duluth to Grand Marais never fails to captivate me, and I’m excited to share my perfect 3-day itinerary from Duluth to Grand Marais with you!
Whether you’re a first-time visitor or a seasoned North Shore traveler, this guide will help you make the most of your trip along the North Shore of Minnesota- one of the state’s most beloved destinations.
Table of Contents
The following map has pins corresponding with each stop on the itinerary. Day 1 pins are blue, Day 2 pins are red, and Day 3 pins are purple.
Day 1: Duluth to Two Harbors
Start Your Journey in Duluth
Begin your Minnesota North Shore adventure in the vibrant city of Duluth. As you make your way towards Canal Park, the heart of Duluth’s waterfront, you’ll feel the excitement building. Take a stroll along the Lakewalk, a paved path that offers stunning views of Lake Superior. Don’t miss the chance to watch massive ships pass under the iconic Aerial Lift Bridge – it’s a sight that never gets old.
For lunch, grab a bite at one of the many restaurants in Canal Park. Grandma’s Saloon is a local favorite. My kids always love watching the lake while we eat.
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Scenic Drive to Two Harbors
As you leave Duluth, take the scenic route along Old Highway 61. This winding road hugs the shoreline and offers breathtaking views of Lake Superior. Make sure to stop at some of the pull-offs to snap photos and soak in the scenery.
Two Harbors Lighthouse
Pull over in Two Harbors to stretch your legs and take in the lake at Agate Bay Beach. There is also the Two Harbors Lighthouse Museum here if you enjoy history. Two Harbors is home to the Castle Danger Brewery, an absolute must if you enjoy craft beers.
Gooseberry Falls State Park
Just further up the coast and through the iconic Silver Creek Cliff Tunnel is Gooseberry Falls State Park. This is a staple on any North Shore trip. The park features a series of stunning waterfalls that are easily accessible via short, paved trails. There is no entry fee for this state park. I can’t say enough about how wonderful this place is. I’ve been here so many times and could never grow tired of visiting.
Tonight, stay in Two Harbors. You’ll have to backtrack about 15 minutes, but you’ll find the most accommodations there. And, more importantly, you’ll get to stop in at Betty’s Pies. Betty’s Pies is a local favorite and if you visit the Minnesota North Shore, you have to stop here. It’s basically law.
Day 2: Two Harbors to Tofte
Split Rock Lighthouse State Park
Start your second day with a visit to Split Rock Lighthouse State Park. This iconic lighthouse perched on a cliff is one of the most photographed spots on the North Shore. Take the tour to learn about the lighthouse’s history and enjoy the spectacular views of Lake Superior.
Beaver Bay
As you continue up the Minnesota North Shore you’ll pass through the charming little town of Beaver Bay. There are a couple of great gift stores here if you’d like some souvenirs.
Black Beach
Stop at Black Beach in Silver Bay and take some gorgeous photos of the tiny black rocks that make up this beach. This one is a hidden gem that not everyone knows about. It is so unique and definitely worth a stop!
Palisade Head
Oh, Palisade Head. This is one of the highlights of the North Shore of Minnesota in my opinion. I may be partial because this is where my husband proposed to me! Palisade Head is a striking geological feature located within Tettegouche State Park limits (no fee to drive up to the top of the rock, however). This stunning rock face rises 300 feet above Lake Superior and isn’t for the faint of heart, but if you can brave the heights it is an incredible experience.
Tettegouche State Park
Next, continue north to Tettegouche State Park, home to some of the North Shore’s most dramatic scenery. Hike to Shovel Point for panoramic views of the lake, or take the trail to High Falls, the highest waterfall entirely within Minnesota.
Bluefin Bay Resort
I highly recommend dinner at Bluefin Bay in Tofte. This restaurant is all cozy vibes with a fabulous menu and bar, and you can dine with a fantastic view of Lake Superior.
Day 3: Lutsen to Grand Marais
Lutsen Mountains
Begin the day at Lutsen Mountains. In the summer, you can ride the alpine slide or take a scenic gondola ride to the summit for incredible views. The alpine slide was a favorite for me growing up and I guarantee your kids will love it, too. Timing your visit to coincide with the fall foliage will reward you with breathtaking views of autumn colors from the gondola ride, creating an unforgettable experience. In winter, it’s a popular spot for skiing and snowboarding.
Cascade River State Park
Next, continue north for a visit to Cascade River State Park. The short hike to the cascading waterfalls is well worth the effort and offers a peaceful start to your day.
Grand Marais
Finally, you’ll reach the charming town of Grand Marais. This artsy community is the perfect place to end your North Shore journey. Stroll through the downtown area, browse local art galleries, and enjoy some of the best food on the North Shore. Sven and Ole’s Pizza is a favorite of ours, and I’ve seen people sporting a representative bumper sticker all over the country!
When you’re ready for a sweet treat, head over to World’s Best Donuts for just that- the world’s best donuts. There’s often a long line here because they are so popular, but for good reason. It’s worth the wait.
Don’t miss Artists’ Point, a rocky peninsula that juts out into Lake Superior, offering fantastic views of the harbor and lighthouse. Sometimes you’ll catch artists out on the point painting, and it’s a great spot for rock skipping – a favorite activity for my kids!
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Best Places to Stay on the North Shore MN
Minnesota North Shore Cabins
There’s something magical about staying in a cozy cabin surrounded by nature. Many resorts along the shore offer cabin rentals that provide a true North Woods experience. Some family favorites include Lutsen Resort, Lamb’s Resort, and Cascade Lodge, all of which offer a range of cabin sizes to accommodate families. Any of these options would work well at the end of Day 2.
North Shore Resorts Minnesota
For a more all-inclusive experience, consider one of the many resorts along the North Shore. Bluefin Bay in Tofte and Grand Superior Lodge near Two Harbors are excellent options that cater to families and offer stunning lake views.
If you decide to book a resort for your Minnesota North Shore accommodations, consider booking through me! There is no additional cost for you, and I can often secure you perks with the resort such as resort credit and complimentary room upgrades.
Camping on the Minnesota North Shore
Camping is a fantastic option for the North Shore. It provides an affordable accommodation option, and allows you to connect with nature. However, campgrounds on the North Shore often fill up a year or more in advance, so it can be tricky to find a spot. It is always worth calling campgrounds to see if there has been a cancellation.
There are ample dispersed camping options on the Minnesota North Shore. If you have never tried dispersed camping before, this means setting up camp for free outside of a developed campground, often on public lands. You usually won’t have any amenities, but sometimes there will be a firepit. We like to use thedyrt.com to find these places. They are first come first served.
If you decide to go the camping route, check out my guide for camping with kids. Here I give tips on camping with kids, the best camping gear to have for your kids, and include a free camping packing checklist.
Tips for Your Minnesota North Shore Adventure
- Weather: The North Shore’s weather can be unpredictable. Pack layers, even in summer, as temperatures can vary greatly between the shore and inland areas.
- Reservations: If you’re visiting during peak season (summer and fall), make lodging reservations well in advance.
- State Park Passes: Consider purchasing a Minnesota State Park pass if you plan to visit multiple parks.
- Local Delicacies: Don’t leave without trying some local specialties like wild rice and fresh Lake Superior fish.
- Bug spray! Make sure to pack bug spray and then more bug spray. Trust me.
- Leave No Trace: Help preserve the beauty of the North Shore by practicing Leave No Trace principles during your visit.
Conclusion
This itinerary will provide the best experience during the summer months. If you’re visiting in a different season, many of these activities will still be available but may require some flexibility. For more ideas what to do on the Minnesota North Shore during other seasons, check out my guide to the North Shore Minnesota in Every Season.
The Minnesota North Shore from Duluth to Grand Marais is an incredible compilation of natural beauty, outdoor adventures, and charming communities. This 3-day itinerary assures you will see all of the best places the North Shore of Minnesota has to offer. Whether you’re hiking to waterfalls, watching ships in Duluth’s harbor, or enjoying the sunset in Grand Marais, the North Shore promises an unforgettable experience for visitors of all ages. I know you will love this destination as much as my family does!
If you need a customized itinerary for Minnesota’s North Shore, submit an inquiry! I create itineraries tailored to your preferences and as a travel advisor, I can often secure perks at resorts such as resort credit and room upgrades! Best of all, this comes at no cost to you!
As always, if you enjoyed this article please leave a comment! And if you have been to the Minnesota North Shore let me know which stop on the itinerary is your favorite!
