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Wisconsin's Wonderful Lakeshore – Beaches, Arts & Charm

Porcupine Mountains Wilderness State Park – Hiawatha National Forest – Ephraim, Wisconsin – Kohler-Andrae State Park – Milwaukee, WI – Chicago, IL
Trip Length
5-7 days
Route Distance
784 mi
Stops
6

The glistening waters of Lake Michigan provide a wonderful backdrop for a summer or fall trip along its western shores. Lake Michigan’s western shore – primarily in Wisconsin – allows you to experience the cool waters and views of the lake, charming small towns, great state parks, and larger cities (Chicago and Milwaukee). For those not interested in Milwaukee or Chicago, there are plenty of small towns, state parks and outdoor activities to keep you busy along the western shore of Lake Michigan. This trip begins in the beautiful and rugged Upper Peninsula (or "UP" as locals call it) of Michigan at Porcupine Mountains Wilderness State Park (on the shores of Lake Superior), packed with museums, historic sites, hiking trails, picturesque campgrounds, beaches, and more. A three-hour drive southeast takes you to Hiawatha Wilderness State Park on the northwest shore of Lake Michigan (also in the UP), filled with hiking trails, charming lighthouses, bubbling streams, and rushing waterfalls. After this, you'll wind your way through south in northeastern Wisconsin to the charming town of Ephraim, in picturesque Door County. Kohler-Andrae State Park is next on the list before continuing south to Milwaukee, and finishing the trip in Chicago. There are many public and private campgrounds all along the way. Summer and fall are the best times for this trip, since they offer warmer weather for outdoor recreation and city attractions. Let AdventureGenie help you plan a great trip to explore the UP, Wisconsin's eastern shore, Milwaukee, and Chicago. Note: if you want to do the whole Lake Michigan circle tour, this trip can be combined with Wandering the Eastern shore of Lake Michigan for a 10–14-day trip that circumnavigates all of Lake Michigan.

Who Will Love This Trip
Everyone will enjoy this trip, especially those who want to see a mixture of larger cities, natural beauty, and beaches. It can be geared to different ages at each location. Chicago and Milwaukee may be more easily navigated by automobile and public transportation.
Stop 1: Porcupine Mountains Wilderness State Park - Ontonagon, MI
1-2 day stay
Description - Porcupine Mountains Wilderness

The Porcupine Mountains, also known as the Porkies, are a great location to explore the UP’s stunning wilderness. Porcupine Mountains Wilderness State Park is the largest state park in Michigan. The park spans over 60,000 acres, providing views of old-growth forests, rivers, waterfalls, and the Porkies. There are activities in the park for everyone, from camping to hiking, fishing, and more.

Top Things to Do - Porcupine Mountains Wilderness

Here are some of the most popular things to see and do at the Porcupine Mountain Wilderness State Park:

Calumet Visitor Center – Learn about the mining history of the Porcupine Mountains area through two levels of interactive exhibits at this visitor center. This center is free and open most days, except for major holidays.

Carnegie Museum, Copper Range Historical Museum, & Coppertown Mining Museum – These are a few of the museums within the park worth researching further. They each offer insight into the region and its history through different media.

Quincy Mine – One of the three mines you can tour at the park, the Quincy Mine tour includes a walk through the old mines, a museum visit, and aboveground attractions such as an old shaft house. During this 2-hour tour, you'll learn what mining life looked like in the early 1900s. (Bring a jacket for the underground section, as the mine's temperature is a constant 43°).

Escarpment Trail – A favorite hiking trail for many, the Escarpment Trail traverses many different landscapes. Along the route, you'll see rocky cliffs, walk through lush forests, and see Lake of the Clouds. In total, this challenging route is 8.6 miles, but many people choose to focus on the portion with great views of the lake.

Presque Isle River Trail –This moderately challenging hike is just under two miles long, with views of several waterfalls. It’s a great option through forest and shoreline and is less crowded.

Porcupine Mountains Wilderness State Park - Ontonagon, MI Activities
  • Camping
  • Hiking
  • Fishing
  • Boating
  • Beaches
  • Kayaking, Canoeing & Paddling
  • Biking
  • Museums
  • Guided Tours of Mines
RV Campgrounds Near Porcupine Mountains Wilderness State Park - Ontonagon, MI

Both private and public campgrounds are available. The Park has five RV-friendly campgrounds with size limits and some hook-ups). Additional private RV campgrounds are available in Ontonagon, Michigan, about 2-3 miles from the park. Let AdventureGenie help you find the best campgrounds to explore the Porcupine Mountains!

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Stop 2: Hiawatha National Forest, MI
1-2 day stay
Description - Hiawatha National Forest

You’ll begin the road trip in the impressive Hiawatha National Forest, known for its array of woodlands, wetlands, and waterfalls. Situated in the “UP,” Hiawatha National Forest is nestled among three of the Great Lakes, earning it the nickname of the “Great Lakes National Forest”. This park spans 880,000 acres and is split into two sections, the East and West Blocks, further divided into five districts. Within these districts are various habitats, picturesque lakeshores, charming lighthouses, and many opportunities for recreation including snowshoeing, snowmobiling, and ice fishing in the winter. As the forest covers a lot of land, you may want to plan an extra day or two for exploration.

Top Things to Do - Hiawatha National Forest

Explore the beauty of Hiawatha National Forest by checking out these attractions:

St. Ignace, Munising, and Rapid River Ranger Districts – Each district has a visitor’s center which provides information about Hiawatha National Forest. Start at the nearest visitor center to get a map and ask any questions you may have. Visitor centers are open Monday through Friday only.

Whitefish Scenic Byway – Running along the shores of Lake Superior, offering shoreline views on a paved two-way street. Historical sites, such as the Point Iroquois Lighthouse, are found on the route along with multiple waysides, providing plenty of opportunities to take a break from the car and stretch your legs.

Point Iroquois Lighthouse – One of the six lighthouses you can view in the forest via a self-guided tour. This lighthouse has been listed on the National Register of Historic Places since 1975. It is named after a battle which took place in 1662. During the summer, you can visit the onsite museum and bookstore and climb the 65-foot tower. Interpretive programs are offered in the summer, providing information on the lighthouse’s history.

Grand Island National Recreation Area – An island reachable by ferry or private watercraft, offering additional recreational opportunities in the park. Sandy beaches, panoramic overlooks, cultural sites, hiking/biking trails, and more are available on the island. There is a daily fee of $5 for visiting the island. Camping is also available for an $8-$10 fee per single campsite per night.

Bay Furnace Historic Site and Interpretive Trail – This easy 1/8-mile trail leads to historic ruins of a blast furnace that once made "pig iron" (i.e., crude iron used to make wrought iron and steel). This quick hike also offers views of Lake Superior and Grand Island and is an ideal option for those with younger kids due to the short length of the trail.

Au Train Songbird Trail – This is another easy trail that takes you on a two-mile loop. It’s a great hiking option for viewing differing landscapes such as bogs, lakeshores, forests, fields, and more. In the morning, you can hear many species of birds singing, hence the trail’s name. At the observation deck on the trail, you can take a break and birdwatch.

Hiawatha National Forest, MI Activities
  • Hiking
  • Biking
  • Kayaking, Canoeing, & Paddling
  • Boating & Watersports
  • Climbing
  • Hunting
  • Off-Roading
  • Horseback Riding
  • Snowshoeing
  • Snowmobiling
  • Ice Fishing
  • Cross-Country Skiing
RV Campgrounds Near Hiawatha National Forest, MI

Hiawatha Forest has many camping options, which include sites that can accommodate RVs. Most campsites are geared toward tent camping, so be prepared for grounds without electricity, sewer, or water hookups. Additional private RV-friendly campgrounds are available in Wetmore and Manistique, MI, about 8-18 miles from the forest. Let AdventureGenie help you find the best campgrounds with easy access to Hiawatha National Forest!

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Stop 3: Door County , MI
1-3 day stay
Description - Door County

Door County, a narrow peninsula with nearly 300 miles of shoreline jutting into Lake Michigan and Green Bay, is often referred to as “The Cape Cod of the Midwest.” Ephraim, Wisconsin, is one of several charming small towns located in famed Door County, a county rich with lighthouses, wineries, outdoor recreation areas, boating, museums, and more. Other wonderful small towns include Egg Harbor, Sister Bay, and Fish Creek. Door County has five state parks inside its 1.5 million acres. Ephraim offers a picturesque small town reminiscent of New England, with its whitewashed buildings and church steeples.

Top Things to Do - Door County

Door County and Ephraim have tons of attractions to enjoy. Here are a few popular options:

Historic Lighthouses – Door County has 11 lighthouses scattered along its 300 miles of shoreline. See one or see them all!

Peninsula State Park – This wonderful state park is ideal for travelers who plan on camping in Door County as well as those who simply want to enjoy its beauty and recreational opportunities. It is the third largest state park in Wisconsin, with just over 3,700 acres. Activities include biking, hiking, beaches, swimming, and golfing. The public golf course with wonderful water views has an 18-hole course, a 6-hole par 3, a driving range, lessons, a club house, and food

State Parks – In addition to Peninsula State Park near Ephriam, enjoy Potowatomi State Park, Whitefish Dunes State Park, Newport State Park, and Rock Island State Park. Only Peninsula and Potowatomi State Parks have RV-friendly camping.

Ephraim Historical Foundation – Learn about the history of Ephraim by visiting several museums in preserved historic buildings. Most of the museums are free to the public and have rotating exhibits. The foundation also offers tram tours to learn about the city's history.

Door County , MI Activities
  • Biking
  • Hiking
  • Beaches
  • Boating
  • Kayaking, Canoeing & Paddling
  • Watersports
  • Swimming
  • Golf
  • Museums
  • Tram Tours
  • Parasailing
RV Campgrounds Near Door County , MI

Given Door County’s popularity as a world-class summer vacation destination, there is an abundance of great public and private campgrounds from which to choose! Both Peninsula State Park (with over 400 sites) and Potowatomi State Park (with over 100 sites) have RV-friendly campsites, with some size restrictions and varying levels of hook ups. There are also tons of private campgrounds – ranging from rustic to full-scale RV resorts. Let AdventureGenie help you find the perfect campground for exploring Door County.

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Stop 4: Kohler-Andrae State Park - Sheboygan, WI
1-2 day stay
Description - Sheboygan

Kohler-Andrae State Park is actually two state parks that have been merged into one, located in Wilson, Wisconsin (near Sheboygan), with almost 1,000 acres, two miles of shoreline on Lake Michigan, scenic views, and wonderful beaches. With wooded campsites, boardwalks winding through dunes, abundant wildlife, miles of sandy beaches, and a Selfie Stand Park for social media enthusiasts, Kohler-Andrae State Park is a top choice for visitors to the area. The park is especially picturesque in the fall, with red and yellow leaves strewn throughout the landscape. Camping and hiking are two of the most popular activities at this park.

Top Things to Do - Sheboygan

Kohler-Andrae State Park is a beautiful hidden gem near Lake Michigan with wonderful outdoor activities. Below, you’ll find some of the most popular things to do:

Sanderling Nature Center – Set in the northern part of the park overlooking Lake Michigan, this nature center offers information about the history, wildlife, flora, and fauna spread throughout the park. You can learn more about the park through interactive exhibits and kiosks at this nature center.

Boating, Canoeing, and Kayaking – These popular activities are great choices given the park’s location on Lake Michigan.

The Black River Trail, Dunes Cordwalk, and Woodland Dunes Nature Trail – There are a few trails worth exploring in the park. All three trails are under two miles and considered easy. Each offers different landscape views, from meadows to forests, dunes, and more.

Visit Sheboygan – Nearby Sheboygan is a hidden gem. It has a vibrant art scene, museums, lighthouses, a lakefront boardwalk, and much more. The John Michael Kohler Arts Center is a wonderful mix of great performing arts, education, and museum.

Kohler-Andrae State Park - Sheboygan, WI Activities
  • Bicycling
  • Boating
  • Kayaking, Canoeing & Paddling
  • Swimming
  • Horseback Riding
  • Fishing
  • Hiking
  • Hunting
RV Campgrounds Near Kohler-Andrae State Park - Sheboygan, WI

Kohler-Andrae State Park has 137 RV-friendly campsites with limited or no hook-ups. Private campgrounds options are available outside the park. Let AdventureGenie find your perfect RV campground near Andrae-Kohler State Park!

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Stop 5: Milwaukee, WI
1-3 day stay
Description - Milwaukee

Milwaukee is most famous for beer and baseball, but today’s Milwaukee boasts incredible architecture, beautiful parks, museums, and stunning beaches. Each neighborhood in Milwaukee offers a unique experience, from the Historic Third Ward with trendy restaurants and shops to the Harbor District, a popular canoeing area. In the southeastern part of Wisconsin along Lake Michigan, Milwaukee provides a jam-packed list of activities for all interests and ages. This culturally diverse city has world-class museums and a booming food scene. Milwaukee is a beautiful, friendly and diverse small city that will surprise and delight visitors.

Top Things to Do - Milwaukee

Milwaukee has so many interesting and fun things to see and do, but here are some of our favorite things to do:

Milwaukee Art Museum – You can’t miss this wonderful, lake-front museum. Many think its dramatic and modern architecture resembles the famed Sidney Opera House. Packed with 25,000 pieces, the museum is a popular stop, with various media, from paintings to photographs, on display. This museum attracts over 400,000 annual visitors. There are dining options as well.

Historic Third Ward – Considered Milwaukee's trendy, creative neighborhood. The Historic Third Ward is packed with theaters and popular restaurants to explore. Additionally, you'll find the Milwaukee Public Market here, filled with local vendors and seasonal foods.

Riverwalk – This 20-block long path “winds through the heart of the city, tying together three distinct riverfront neighborhoods" — the Historic Third Ward, Downtown, and Beerline B.

Pabst Theater – Built in the early 1900s and named after a famous beer company, this theater is considered an architectural masterpiece in Milwaukee and the centerpiece of the Milwaukee theater district. Its beautiful Baroque-style exterior resembles historic opera houses in Europe. Check out one of the many musical performances.

Professional Sports – Milwaukee is serious about sports, with its four professional sports teams. Catch a professional hockey game (Admirals), basketball (Bucks), soccer, (Wave), or baseball game (Brewers) to cheer on some of the local teams. And don’t forget the beer!

Milwaukee, WI Activities
  • Biking
  • Museums
  • Breweries
  • Zoos
  • Parks
  • Milwaukee Brewers (MLB)
  • Milwaukee Bucks (NBA)
  • Milwaukee Admirals (NHL)
  • Milwaukee Wave (MASL)
  • Botanical Gardens
  • Riverwalk
  • Beaches
  • Boating
  • Kayaking, Canoeing & Paddling
RV Campgrounds Near Milwaukee, WI

There are only a few RV parks in the city of Milwaukee and many more just outside the city. If you want to camp outside the city, let AdventureGenie help you find the perfect campground to explore Milwaukee!

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Stop 6: Chicago, IL
1-3 day stay
Description - Chicago

The Windy City. Chi-town. The City of Big Shoulders. Chicago has many nicknames, but it is one of America’s great historic cities. It has beautiful skyscrapers, a gorgeous shoreline, world-class museums, great food and fun activities. With so much to see and do, you can spend several days in Chicago. This city, nicknamed the Windy City for a tornado that sped through Chicago in 1876, is packed with dozens of museums (art, science, industry, aquarium, history, planetarium), pro sports teams, beautiful lake front trails, theater, comedy, water activities, and so much more. And don’t forget to try Chicago’s famous pizza!

Top Things to Do - Chicago

Unsure of what to do in Chicago since there is so much? Here are some great options:

Art Institute of Chicago – This storied museum has been named the world's best museum by TripAdvisor. The Art Institute has hundreds of thousands of amazing pieces in its collections. You will find permanent and rotating art exhibits throughout the museum, with an array of styles, including impressionist and contemporary.

Museums – One of the greatest things about Chicago is its large collection of world class museums. Kids will love the Field Aquarium, Museum of Science & Industry, Adler Planetarium, and The Peggy Notebaert Nature Museum. Check out this guide to Chicago museums.

Millennium Park – This is the location of the iconic Cloud Gate sculpture, known by locals as "The Bean." People visit here solely to see and photograph this charming art piece. Millennium Park is a smaller section of Grant Park, which sits alongside Michigan Avenue (the famous “Miracle Mile,” known for its high-end department stores and shops). The park also has the Lurie Garden and Crown Fountain.

Navy Pier – A top attraction with Chicago visitors and locals. Navy Pier was initially built in the early 1900s. Now, this amusement area features indoor and outdoor rides, shows, rooftop restaurants, shops, and more. It’s a family-friendly location with year-round activities right on the edge of Lake Michigan.

Wrigley Field – Chicagoans take their sports seriously, especially baseball. Catch a Cubs game at Wrigley Field, the second oldest Major League Baseball stadium in America. Tours of the stadium are also available.

Chicago, IL Activities
  • Walking
  • Biking
  • Swimming
  • Museums
  • Theater & Entertainment
  • Architecture Tours
  • River & Lake Cruises
  • Shopping
  • Boating
  • Beaches
  • Kayaking, Canoeing & Paddling
  • Chicago Cubs (MLB)
  • Chicago White Sox (MLB)
  • Chicago Bears (NFL)
  • Chicago Bulls (NBA)
  • Chicago Blackhawks (NHL)
  • Chicago Fire FC (MLS)
RV Campgrounds Near Chicago, IL

There are only a few RV-friendly campgrounds in downtown Chicago, but there are many private campgrounds in the city's suburbs. Public options include McCormick Place Marshalling Yard (in downtown), Adeline Jay Geo-Karis Illinois Beach State Park, Starved Rock State Park, and Indiana Dunes State and National Parks. Let AdventureGenie help you find your perfect campsite while visiting Chicago!

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Wisconsin's Wonderful Lakeshore – Beaches, Arts & Charm
Porcupine Mountains Wilderness State Park – Hiawatha National Forest – Ephraim, Wisconsin – Kohler-Andrae State Park – Milwaukee, WI – Chicago, IL
Length
5-7 days
Distance
784 mi
Stops
6

The glistening waters of Lake Michigan provide a wonderful backdrop for a summer or fall trip along its western shores. Lake Michigan’s western shore – primarily in Wisconsin – allows you to experience the cool waters and views of the lake, charming small towns, great state parks, and larger cities (Chicago and Milwaukee). For those not interested in Milwaukee or Chicago, there are plenty of small towns, state parks and outdoor activities to keep you busy along the western shore of Lake Michigan. This trip begins in the beautiful and rugged Upper Peninsula (or "UP" as locals call it) of Michigan at Porcupine Mountains Wilderness State Park (on the shores of Lake Superior), packed with museums, historic sites, hiking trails, picturesque campgrounds, beaches, and more. A three-hour drive southeast takes you to Hiawatha Wilderness State Park on the northwest shore of Lake Michigan (also in the UP), filled with hiking trails, charming lighthouses, bubbling streams, and rushing waterfalls. After this, you'll wind your way through south in northeastern Wisconsin to the charming town of Ephraim, in picturesque Door County. Kohler-Andrae State Park is next on the list before continuing south to Milwaukee, and finishing the trip in Chicago. There are many public and private campgrounds all along the way. Summer and fall are the best times for this trip, since they offer warmer weather for outdoor recreation and city attractions. Let AdventureGenie help you plan a great trip to explore the UP, Wisconsin's eastern shore, Milwaukee, and Chicago. Note: if you want to do the whole Lake Michigan circle tour, this trip can be combined with Wandering the Eastern shore of Lake Michigan for a 10–14-day trip that circumnavigates all of Lake Michigan.

Who Will Love This Trip

Everyone will enjoy this trip, especially those who want to see a mixture of larger cities, natural beauty, and beaches. It can be geared to different ages at each location. Chicago and Milwaukee may be more easily navigated by automobile and public transportation.
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