Minnesota has 75 state parks and recreation areas spread across every corner of the state. Whether you want lakeside camping in the north woods, river bluff hikes in the southeast, or prairie sunsets out west, there's a state park for you. Here are our top 10 picks for camper and RV camping.
1. Gooseberry Falls State Park Location: Two Harbors (North Shore) | Distance from Shakopee: 3.5 hours
The crown jewel of Minnesota's state park system. Five waterfalls on the Gooseberry River, miles of hiking trails along Lake Superior, and some of the best campsites in the state. This is the must-visit park for any Minnesota camping trip.
2. Itasca State Park Location: Park Rapids | Distance from Shakopee: 3.5 hours
The headwaters of the Mississippi River — you can literally walk across the beginning of the Mighty Mississippi. Minnesota's oldest state park with old-growth pines, a wilderness drive, and excellent lakeside camping.
3. Tettegouche State Park Location: Silver Bay (North Shore) | Distance from Shakopee: 4 hours
Dramatic cliffs, inland lakes accessible only by foot, and the highest waterfall entirely within Minnesota. The cart-in campsites along Lake Superior are unforgettable.
4. Jay Cooke State Park Location: Carlton (near Duluth) | Distance from Shakopee: 2.5 hours
The St. Louis River carves through dramatic slate rock formations here. The swinging bridge over the river is iconic, and the campground is well-maintained with pull-through sites perfect for RVs.
5. Whitewater State Park Location: Altura (SE Minnesota) | Distance from Shakopee: 2 hours
Hidden in the bluff country of southeastern Minnesota, Whitewater is a gem. Trout fishing in the Whitewater River, towering limestone bluffs, and some of the best fall color in the state.
6. Wild River State Park Location: Center City (St. Croix Valley) | Distance from Shakopee: 1.5 hours
18 miles along the scenic St. Croix River with excellent hiking, kayaking, and fishing. The closest "get away from it all" state park to the Twin Cities.
7. Mille Lacs Kathio State Park Location: Onamia | Distance from Shakopee: 2 hours
On the shores of Mille Lacs Lake with over 10,000 years of human history. The 100-foot observation tower gives panoramic views of the lake and surrounding forest. Great walleye fishing nearby.
8. Forestville/Mystery Cave State Park Location: Preston (SE Minnesota) | Distance from Shakopee: 2.5 hours
Two parks in one — a historic townsite and Minnesota's longest cave. Tour Mystery Cave's underground passages by day, then camp above ground in the Root River valley. The nearby Root River Trail is perfect for biking.
9. Cascade River State Park Location: Lutsen (North Shore) | Distance from Shakopee: 4.5 hours
The Cascade River drops 900 feet in the last 3 miles before reaching Lake Superior, creating a series of spectacular waterfalls. The Superior Hiking Trail passes right through. A quieter alternative to the more popular North Shore parks.
10. Glacial Lakes State Park Location: Starbuck (West-Central MN) | Distance from Shakopee: 2.5 hours
A surprising gem in the prairie region. Rolling hills, prairie wildflowers, and crystal-clear lakes formed by glaciers. The night skies here are incredible — some of the darkest in southern Minnesota.
Camping Tips for Minnesota State Parks
- Reserve early at mndnr.gov — Popular parks book out 3-4 months ahead for summer weekends
- Vehicle permits — You'll need a state park vehicle permit. Daily and annual options are available at the park entrance or online at the DNR website
- Most campgrounds have electric hookups — Great for our larger trailers. Our smaller rigs work fine without hookups too
- Firewood rules — Don't bring your own firewood from home. Buy it at the park or locally to prevent invasive species spread
