The Midwest may be regarded by some as “flyover” territory, but I would argue that anyone who says that has never taken any time to actually learn about all of the amazing places the Midwest has to offer. These are some of the most beautiful state and national parks in the Midwest, but trust me there are so many beautiful places in this region that you simply must visit. 

The Midwest may not have oceans or the tallest mountains, but there are lakes with water so crystal blue it could rival the Mediterranean, mountain ranges with expansive views, beautiful caves, waterfalls, and unique rock formations.

While there are lots of places with natural beauty in the Midwest, these are the spots I found especially notable and unique. I’d dare anyone who has used the term “flyover” to visit these spots. If their mind isn’t changed, then they need to get their eyes checked. 

Best State and National Parks in the Midwest at a Glance

Best for waterfalls and canyons: Starved Rock State Park, Illinois
Best adventurous family hike: Turkey Run State Park, Indiana
Best for caves: Maquoketa Caves State Park, Iowa
Best remote camping experience: Voyageurs National Park, Minnesota
Best scenic road trip: Minnesota’s North Shore
Best island adventure: Apostle Islands National Lakeshore, Wisconsin
Best unexpected Kansas landscape: Wilson State Park, Kansas
Best variety of hikes: Hocking Hills State Park, Ohio
Best Lake Superior scenery: Pictured Rocks National Lakeshore, Michigan
Best Missouri park combination: Johnson’s Shut-Ins and Elephant Rocks State Parks
Best for Badlands and wildlife: Theodore Roosevelt National Park, North Dakota
Best for wildlife viewing: Custer State Park, South Dakota

1. Starved Rock State Park and Matthiessen State Park, Illinois

Starved Rock State Park and Matthiessen State Parks are only about 1.5 hours from Chicago, but you would never know it based on the scenery. These parks are filled with tall canyons, waterfalls, unusual rock alcoves, and overlooks.

In Starved Rock State Park the 2.1-mile Saint Louis Canyon Trail and 4.4-mile French Canyon trails are popular, but we enjoyed the lesser-known Ottawa and Illinois Canyons. These trails are farther from the Visitor Center and were less crowded during our visit. We managed to have each canyon and waterfall to ourselves for about half an hour. I enjoy nature more when I’m not surrounded by crowds, so this was a big bonus for me.

The lodge is also worth a stop. It has the cozy feel of a log cabin but feels more upscale, and the restaurant has indoor and outdoor seating. If you’re visiting with kids, leave time for the Visitor Center so they can work toward their Junior Ranger badges. You’ll also find restrooms, a gift shop, concessions, snacks, and ice cream there.

Mattheissen State Park is only a 5 minute drive away from Starved Rock. Although it is smaller, it doesn’t have the lodge or visitor’s center, I would argue it’s just as beautiful, if not more so. I loved all the waterfalls and canyons. Be sure to hike both parts of the Lower Dells trails for the best views of the waterfalls. Keep your eyes peeled for the cave near Cascade Falls. It is actually more of a rock tunnel, which will lead you to a spectacular view of the falls.

Planning tip: Consider hiking beyond the trails closest to the Visitor Center if you want a better chance of finding a quieter canyon. These trails do get muddy, so be prepared.

2. Turkey Run State Park and Shades State Park, Indiana

If you’re looking for narrow canyons and waterfalls, Turkey Run State Park is one of my favorite places in the Midwest. Climbing down ladders into canyons and wading through streams are just two of the things that make hiking here feel like an adventure. 

You’ll want to stop at the Visitor Center and pick up a map because the trails interconnect and are identified by numbers. Instead of following one trail during our visit, we combined several trails to see the Punch Bowl, Rocky Hollow, Wedge Rock, the ladders, and the Ice Box. Keep an eye out for the Punch Bowl because it sits off to the side of the trail, and we watched plenty of people walk right past it. If you have more time, Falls Canyon and Boulder Canyon are also worth adding.

The trails are rugged and involve climbing. Our 5-year-old twins were able to do them, but we took plenty of breaks and ate a lot of snacks along the way. While we didn’t do a far distance, the elevation and ruggedness made it feel longer. 

There is more to Turkey Run than hiking. The park also has a lodge, camping, fishing, canoeing, kayaking, floating, and swimming. The surrounding area is known for its historic covered bridges, so you could easily spend a few days exploring.

Many people go to the popular Turkey Run State Park, but miss the just-as-beautiful lesser known Shades State Park which is only about 20 minutes away. If you have the time, I highly recommend doing both. 

This region doesn’t have a ton of hotel options, so I recommend camping or staying at the lodge in Turkey Run State Park if you can get a reservation. 

Planning tip: Bring shoes that can get wet and expect some climbing if you plan to tackle the canyon trails.

3. Maquoketa Caves State Park, Iowa

When you think of Iowa, caving probably isn’t the first thing that comes to mind, but at Maquoketa Caves State Park there are 13 caves within six miles of trails. The caves vary in size, with the 800-foot Dancehall Cave on one end of the spectrum and tiny caves you have to army crawl through on the other.

We visited Maquoketa Caves twice, both times during the summer. There were other people there, but it wasn’t packed, which made the experience more enjoyable for me. Many caves I have visited have artificial lighting, large tours, stairs, and other built elements, but these caves don’t feel like that.  At Maquoketa Caves, many of the caves were smaller and we had several to ourselves. Walking down the trail and coming across another cave made it feel like we were discovering it for the first time.

We spent two days exploring the park, which was plenty of time for our family. My twins were 4 the first time we went, so we walked slowly and spent a lot of time exploring caves and eating snacks. I recommend giving yourself one or two days here, but if you hike fast or don’t want to explore all the caves, you could easily do it in one. If you’re adventurous, wear clothes you don’t mind getting muddy and explore some of the smaller caves. We skipped those because we had three young kids, but I would love to go back and try them.

Be sure to check that the caves are open before you go. Some of the caves are closed in the winter months in order to protect the local bat species. Double check the status before you head out. 

We stayed in Dubuque, about 40 minutes away. It’s a good-sized city with beautiful bluffs, hiking, and plenty of places to eat. If you stay there, I recommend visiting the Dubuque Arboretum and hiking at Mines of Spain.

4. Voyageurs National Park, Minnesota

If you’re looking for an underrated national park, Voyageurs National Park is one of my favorites. The park is near International Falls, Minnesota, along the Canadian border and is made up of lakes, islands, and forests.

The campsites at Voyageurs are only accessible by water, so you cannot drive directly to them. Our campsite had its own dock, a bear locker, and a rocky shoreline that was fun to explore. We spent two nights camping, which was the right amount of time for us.

There are several ways to reach a campsite. You can rent a houseboat, hire an outfitter, or take your own boat or canoe. We hired an outfitter to take us to our campsite by speedboat. Our twins were 3 and our son wasn’t even a year old, so not having to paddle to the site made the experience much more manageable. The outfitter transported our tent, cots, pack and play, food, and water. We also rented a canoe so we could paddle around during the day.

You can paddle to some campsites yourself, but larger boats, including National Park Service tour boats, travel through these lakes and can create large wakes. I would save that option for experienced paddlers. If you’re looking for a more remote canoeing experience, the nearby Boundary Waters Canoe Area is another option.

Even if camping isn’t your thing, Voyageurs is worth visiting. The park has visitor centers at Rainy Lake, Kabetogama, and Ash River, along with seasonal boat tours and interpretive programs.

Planning tip: Hiring an outfitter made remote camping possible for us when our kids were very young. It gave us the wilderness experience without having to paddle all of our camping gear and three little kids to the campsite.

5. Minnesota’s North Shore State Parks

Minnesota’s North Shore is a dream destination. Picture driving along winding roads with crystal-blue Lake Superior on one side and the pines of Superior National Forest, rocky cliffs, and waterfalls on the other.

Our family travels a lot, but our trip to the North Shore and Apostle Islands still sticks out to both me and my husband as one of our favorites. The drive between Duluth and the Canadian border takes you past several state parks. This is one of my favorite Midwest road trips for families who love being outside

I have been to the North Shore twice. The first time was in the summer and it was absolutely dreamy. The second time was in the fall and it was, if possible, even more stunning, with some of the best fall foliage I have ever seen. 

Gooseberry Falls State Park

Gooseberry Falls has a large waterfall with upper, middle, and lower viewpoints. My kids loved exploring the rocks here, and it is an easy park to add to a North Shore road trip.

Tettegouche State Park

Tettegouche has waterfalls, a lake, hiking, and overlooks. It is another park worth building time into your itinerary rather than treating it as a quick roadside stop.

Split Rock Lighthouse State Park

Split Rock Lighthouse is one of the most recognizable sights along the North Shore. For one of my favorite views, head down toward the rocky shoreline where you can look back toward the lighthouse.

Temperance River State Park

Temperance River Falls is easy to add to a road trip because you can see it near Highway 61 without committing to a long hike.

Cascade River State Park

The Cascade River Loop was one of our favorite hikes on this trip. The half-mile hike has multiple waterfalls and great views, and our 3-year-old twins were able to hike it on their own.

Judge C.R. Magney State Park

The trail to Devil’s Kettle waterfall is less than a mile. We weren’t able to make it here on our trip, so it remains on our list for next time.

Grand Portage State Park

Grand Portage State Park sits along the Canadian border and is known for its large waterfall. We also missed this one during that trip, so it is another stop I want to add next time.

Planning tip: Don’t try to rush the North Shore. Leave room in your itinerary for overlooks, waterfalls, and unexpected stops along Highway 61.

The Drive Between the State Parks 

Even the drive between state parks is stunning. You will find cute towns, picturesque pull offs, and beautiful views. In the fall, Lutsen is stunning with a blanket of foliage. Just know it is a popular spot, and the gondola ride to the mountains have long wait times. 

6. Apostle Islands National Lakeshore, Wisconsin

Apostle Islands National Lakeshore is a series of islands in Lake Superior near Bayfield, Wisconsin. If you’re looking for a Midwest trip that feels like a bigger adventure, this is a great place to choose.

A boat tour is one of the easiest ways to see the islands. Our family took one and enjoyed the views and learning about the history of the area. More adventurous visitors can kayak through the sea caves, while boat cruises allow you to see them without getting in a kayak.

Madeline Island is also worth adding to your trip. You can drive your car onto the ferry, which makes exploring the island easy. If you’re only visiting for the day, many restaurants and businesses are located near the ferry port and you could skip bringing your car. 

My family enjoyed camping at Big Bay Town Park, which had campsites within walking distance of the beach, lagoon (with canoes and kayaks to rent), and Big Bay State Park. These are across the island and you would need a car to get to them.

We took our car to Madeline Island and spent three nights camping at Big Bay Town Park. Of all the places we have camped, this was our favorite. Our campsite was secluded and surrounded by pine trees, but we were only about a five-minute walk from a beach, a lagoon where we could canoe, and a state park. Each night we drove into town for dinner, which made the trip feel a little like glamping even though we were sleeping in a tent.

Planning tip: Taking your car on the ferry gives you more flexibility if you want to explore beyond the area near the ferry landing.

7. Wilson State Park, Kansas

Wilson State Park has a crystal-blue lake, sandstone rock formations you might not expect to find in Kansas, and miles of mountain biking trails.

Our favorite hike at Wilson Lake is the 2.5-mile Rocktown Trail. It winds through hills and prairie grass before reaching the lake. Along the way, you’ll pass rock towers that look like a little town, which is where the trail gets its name. There is also a beach area before the trail climbs back through rocks and prairie. If it’s a warm day, you can get in the water and swim. 

Wilson Lake has camping, fishing, boating, kayaking, and mountain biking. The Switchgrass Trail stretches for more than 20 miles and includes options for different experience levels, including more technical sections for advanced mountain bikers.

If your idea of Kansas is completely flat farmland, Wilson Lake might change your mind.

8. Hocking Hills State Park, Ohio

Hocking Hills State Park was so impressive that I was surprised it was a state park and not a national park. The trails wind through caves, past waterfalls, and beneath towering rock walls surrounded by thick forest. Parts of it made me feel like I was walking through Jurassic Park.

Old Man’s Cave and the nearby cave and waterfall areas are some of the most popular stops. The combination of rock formations, bridges, waterfalls, and winding trails makes this area one of the highlights of the park.

I recommend spending at least two or three days at Hocking Hills if you want to explore several areas. One of my favorite stops was the Rock House Trail. The cave has multiple openings that make it look like a house with rooms and windows, and my kids loved exploring the unusual space.

Ash Cave is another good family stop. A waterfall flows over a huge open cliff, and the out-and-back trail is only about half a mile. My kids enjoyed looking at the plants and playing in the sand near the cave. It was crowded when we visited, but people moved through quickly, and we had a few opportunities to enjoy the area without many other people around.

The Lower Trail at Conkle’s Hollow is another trail I recommend. The route is paved for much of the way before becoming rockier near the end. Rocky cliffs covered with ferns and moss line the trail, and the end leads to a rocky alcove with waterfalls.

Planning tip: Give Hocking Hills more than one day. The major sights are spread across different areas, and rushing between them would take away a lot of the fun.

9. Pictured Rocks National Lakeshore, Michigan

Pictured Rocks National Lakeshore is one of my favorite parks in the Midwest. Picture colorful rock formations rising over blue water, miles of beaches, waterfalls, and pine forests. We spent five days here and still didn’t do everything.

One of the things that surprised me was learning you can see shipwrecks in Michigan. Hike the Au Sable area and you can see shipwreck remains along with a lighthouse. If waterfalls are more your thing, add Munising Falls, Miners Falls, and Sable Falls to your itinerary.

A boat tour gives you a different view of the park’s rocky bluffs and waterfalls, including Bridalveil Falls and Spray Falls. You can also kayak along sections of the shoreline and explore sea caves.

The Log Slide is another memorable stop. It is a huge, steep sand dune you can slide down toward Lake Superior. We only went partway because climbing back up after going all the way down can take a long time. More adventurous visitors can also backcountry hike along the Lake Superior shoreline through the park. I would love to do this backpacking trail one day when my kids are older. 

Planning tip: Five days still wasn’t enough for us to do everything, so prioritize the hikes, waterfalls, beaches, and water activities that matter most to your family.

10. Johnson’s Shut-Ins State Park, Missouri

Johnson’s Shut-Ins and nearby Elephant Rocks are my two favorite Missouri state parks, which is saying something because Missouri has a lot of great gems. The parks are only about 20 minutes apart, so I recommend visiting them during the same trip. 

Johnson’s Shut-Ins State Park is best known for the river flowing through a series of boulders. The rocks create swimming holes, channels, and natural areas to climb and explore.

I definitely recommend getting water shoes for this adventure. The rocks can get very hot and my sandals kept getting caught on the rocks. There are some deeper swimming hole areas as well as some places people like to jump from. 

Johnson Shut Ins can be crowded and a little rowdy in the summer because it is a popular spot. I recommend going during the week if you can and early in the morning or in the evening. Some people take a day trip here on the weekends from St. Louis, but they are usually there during the middle of the day. 

Swimming may be the main attraction, but the park also has camping, backcountry camping, hiking, and other outdoor activities. If you have enough time, staying overnight makes it easier to combine Johnson’s Shut-Ins with Elephant Rocks and Taum Sauk Mountain State Park. Taum Sauk State Park is about 40 minutes away from Johnson Shut Ins. It’s where Missouri’s tallest waterfall is and the highest point in Missouri is. 

11. Elephant Rocks State Park, Missouri

This is a smaller state park, and hiking the main trail doesn’t take long. My kids always enjoy exploring between the rocks and climbing, so we usually spend about two hours here instead of rushing through.

Elephant Rocks State Park is one of the most unique places in Missouri. The park has a grouping of huge rounded boulders unlike anything I have seen elsewhere. They are said to resemble elephants, which is where the park gets its name.

If you have extra time, add Taum Sauk Mountain State Park to your itinerary. It includes Missouri’s highest point, a waterfall, beautiful overlooks, and basic walk-in campsites.

We have been here twice. Once in March and the other time in July. When we went in July it was a very hot day and the heat was reflecting off of the rocks. Keep in mind that the rocks will feel even hotter on a sunny day and bring lots of water if it is warm outside. 

Planning tip: Johnson’s Shut-Ins, Elephant Rocks, and Taum Sauk are close enough together to turn into a full weekend of state park exploring.

12. Theodore Roosevelt National Park, North Dakota

Let’s not beat around the bush. There is a stereotype that North Dakota is flat and boring, but Theodore Roosevelt National Park is one of the most beautiful places I have ever been. It easily rivals the beauty of any other national park we have visited. The rugged Badlands landscape, sweeping prairie views, unique rock formations, and wildlife make this park unlike anywhere else we have explored.

We spent three full days exploring Theodore Roosevelt National Park and Medora. We started at the South Unit Visitor Center, where our kids completed Junior Ranger packets and earned their badges. It was adorable to see their excitement when they got them.

We spent much of the day on the Scenic Loop Drive, spotting bison, a herd of wild horses, and lots of prairie dogs. The Badlands landscape was unlike anything we’d ever seen. It was jagged, colorful, and went on for miles. It exceeded all of my expectations.

We also hiked Buck Hill, Wind Canyon Trail, Boicourt Overlook Trail, and Coal Vein Nature Trail. Buck Hill shocked me the most because when you get to the top of this short, steep trail, you see Badlands for as far as the eye can see and realize how vast this space is. I also loved Wind Canyon Trail for its views of the canyon and river.

As we drove through the park, I cried happy tears at the opportunity to see one of the most beautiful places in the country. Theodore Roosevelt National Park exceeded all of my expectations, and I would love to go back.

Read my full 3-Day Theodore Roosevelt National Park Itinerary in Medora, North Dakota to plan your trip.

13. Custer State Park, South Dakota

Custer State Park is a sprawling park in the Black Hills of South Dakota with granite peaks, canyons, rolling prairie, and plenty of wildlife. This was one of our favorite places to explore during our family trip to the Black Hills.

Wildlife viewing is one of the biggest reasons to visit. Drive Wildlife Loop Road and keep an eye out for bison, deer, elk, prairie dogs, and other animals along the way.

You’ll also want to drive Needles Highway. The route winds through towering granite formations and narrow rock tunnels, and the drive itself is part of the experience.

Custer State Park is the type of place where you could spend an entire day driving, stopping at overlooks, watching wildlife, and getting out for hikes along the way or you could easily spend a few days here relaxing in a cabin and doing all the hikes. If you are planning a Black Hills trip, give this park plenty of time instead of treating it as a quick stop.

Which Midwest Park Is Right for Your Family?

The Midwest has parks for just about every type of outdoor adventure. Families who love waterfalls and canyons have great options at Starved Rock, Turkey Run, and Hocking Hills. Maquoketa Caves is a fun choice if your kids want an adventure that feels different from a typical hike.

For a trip centered around Lake Superior, consider the North Shore, Apostle Islands, or Pictured Rocks. Voyageurs is a great option for families who want a more remote camping experience, while Custer State Park and Theodore Roosevelt National Park offer wildlife and landscapes that look very different from much of the Midwest.

Some of my favorite trips have also been the ones that surprised me most. Wilson Lake does not look like what many people picture when they think of Kansas, and the giant rocks at Elephant Rocks are unlike anything else I have found in Missouri.

How Many Days Do You Need for a Midwest State or National Park Trip?

The amount of time you need depends on the park. Smaller parks like Elephant Rocks can be explored in a few hours. Larger destinations like Pictured Rocks, Hocking Hills, the North Shore, and Voyageurs are better suited for a multi-day trip.

We spent two days at Maquoketa Caves, two nights camping at Voyageurs, three nights on Madeline Island, and five days around Pictured Rocks. Those experiences taught me that slowing down usually makes these trips more enjoyable, especially when traveling with kids.

I would rather have enough time for the kids to climb rocks, stop for snacks, play near the water, or investigate something they find along a trail than spend the entire day rushing to check another attraction off the list.

However, if you’re traveling with teens or want to see it all, you could easily shorten these trips and just see the highlights in less time. 

Tips for Visiting Midwest Parks With Kids

Some of our favorite family trips have been built around state and national parks, but hiking with kids usually means adjusting your expectations. A trail that looks short on paper can take much longer when kids want to climb every rock, investigate every cave, and stop for snacks.

Pack plenty of water and snacks, check trail conditions before heading out, and make sure everyone has shoes appropriate for the terrain. I also recommend stopping at visitor centers when they are available. Maps can make navigating easier, and Junior Ranger programs give kids something to work toward while exploring.

Most importantly, leave room in the schedule to explore. Some of our best memories happened when we weren’t trying to rush to the next stop.

Explore More of the Midwest

The Midwest has so much more natural beauty than people give it credit for. There are caves to crawl through, waterfalls to hike to, lakes that look like oceans, remote islands, rugged canyons, giant rock formations, wildlife, and some incredible places to camp.

If you’re looking for more places to explore, check out my Unique Things to do in Kansas or my 10 Best Midwest Fall Trips.

Which Midwest state or national park should we explore next? Let me know your favorite in the comments!