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Ryan Robinson takes you for a ride in the passenger seat of his RV, off the grid, deep among the dramatic rock formations of the Utah Desert. Robinson and friends chill by the fire, tell stories, and of course, rig a one of a kind highline over the Looking Glass Arch in Moab, UT.
Have you ever heard of Door County, Wisconsin? If not, you're missing out on the Midwest's best-kept travel secret. This small peninsula near Green Bay is often described as the "Cape Cod of the Midwest," and after our RV trip, I have to agree. The picturesque 300 miles of Lake Michigan shoreline, lined with waterfront towns, historic lighthouses, and breathtaking scenic beauty, makes Door County a standout among other Midwest travel locations. Here’s a list of top attractions for your RV trip to Door County!
Stop 1: Sturgeon Bay
Sturgeon Bay Ship Canal Pierhead Lighthouse
Sturgeon Bay Canal Light helps guide ships through the Sturgeon Bay Ship Canal and features a beautiful red tower. While the lighthouse is not open for tours, the walkway leading up to the lighthouse offers a unique view. We had the thrill of visiting before a storm. The water crashing over the walkway created an epic and eerie landscape.
Door Country Maritime Museum
The Door County peninsula was called Death's Door due to the number of shipwrecks trying to get around the land strip and into Green Bay. This scenic waterfront museum is great for learning the exciting and dangerous maritime history of the Great Lakes. You can also tour a restored tugboat and the Jim Kress Maritime Lighthouse Tower.
Cherry Picking At Choice Orchards Farmers Market
Door County is a paradise for cherry lovers, producing millions of pounds of cherries annually and creating delicious local cherry-flavored treats. In July and early August, you can find many locations with opportunities to pick both sweet and tart cherries. Our daughter loved operating the cherry pitter, and we ate cherries until our stomachs ached. Both varieties are delicious!
Stop 2: Whitefish Bay
Whitefish Dunes State Park
Spend the day hiking along the picturesque Lake Michigan trails that wind through the forested dunes. Don’t miss the view from Old Baldy Observation Tower. This tallest dune in the park offers a viewing platform at the end of the Red Trail. Whitefish Dunes State Park is also a great place to walk along the beach and swim.
Cave Point County Park
One of the best places to kayak in Door County is Cave Point Park. The Dolomitic limestone formations forming the Niagara Escarpment of Lake Michigan are a marvel best viewed from the water. These cliffs hold many exciting sea caves that can only be explored by paddling or diving. Consider taking a guided kayak tour to avoid missing the top spots.
Stop 3: Baileys Harbor
Cana Island Lighthouse
The Cana Island Lighthouse is an iconic lighthouse built in 1869 that still operates today. One of the most exciting parts of touring the lighthouse is how you reach it. The Cana Island Lighthouse sits on an island separated from the mainland by a shallow strip of water. A tractor pulls groups of visitors on a hay wagon through the shallow water to reach the lighthouse. We enjoyed the unique way we arrived at the lighthouse just as much as the tour.
Baileys Harbor Range Lights
Baileys Harbor Range Lights consist of two separate light towers that when aligned, guide ships safely into the harbor. The surrounding area of Baileys Harbor Ridges Park offers beautiful scenery, hiking trails, and a sandy beach for walking or swimming. Don’t miss the Ridges Sanctuary Nature Center during your visit.
Stop 4: Egg Harbor
Door County Trolley
Would you enjoy touring Door County while leaving the driving to someone else? The Door County Trolley has tours for just about every type of traveler. Some popular options include a Scenic Tour, Lighthouse Tour, Wine and Brewery Tour, a Cheese Artisan Tour, and a Ghost Tour.
Stop 5: Fish Creek
Peninsula State Park
This State Park is a popular Door County destination for nature lovers and hikers. Make sure to explore the Eagle Bluff Lighthouse located inside the park. A short walk from the lighthouse provides panoramic park views from the top of the Eagle Tower. You can climb 100 stairs to reach the lookout area on top or take the accessible canopy walk for a bird’s eye view.
Outdoor adventurers won’t want to miss exploring the Eagle Trail, which leads you along the impressive Niagara Escarpment. During the hike on this two-mile loop, you will encounter stunning rock formations forming the cliffside along the water.
Lautenbach’s Orchard Country Winery and Cider Mill
Door County takes pride in its cherry-themed delicacies. In addition to picking cherries, you can enjoy a wide variety of cherry food products, from cherry pies, cherry jams, cherry wine, and of course, cherry-infused cheeses. It sounds a bit odd, but we all loved the cherry cheese. There are many cherry-infused wines and hard ciders to try, as well as a full bakery.
White Gull Inn Fish Boil
One of the Scandinavian settler traditions that still exists today is the famous fish boil. This popular meal and social event includes a pot of whitefish, potatoes, onions, and salt boiled outside over an open fire. The addition of kerosene at the end causes a big, exciting flame, and the pot boils over before the meal is served.
Stop 6: Ephraim
The Hardy Gallery For A Unique Photo Spot
Located on the shore of Eagle Harbor, the exterior of the Hardy Gallery itself is an art piece featuring graffiti-scribbled walls with a mini lighthouse behind it on the waterfront. It's especially lovely when the sun is setting over the lake behind the gallery.
Wilson’s Restaurant
Across the street from the Hardy Gallery lies a fun historic dining experience. Wilson’s is an old-fashioned soda fountain serving house-brewed root draft beer, ice cream, and burgers since 1906.
Stop 7: Sister Bay
Al Johnson's Swedish Restaurant
Sister’s Bay is another adorable town that sits right on the water with a large marina. Al Johnson's Swedish Restaurant is an authentic, family-owned tradition known for its delicious Swedish cuisine, like limpa bread and Swedish meatballs.
While we got a kick of our young daughter ordering grilled Havarti with pickled beets and cucumber salad, what really sets it apart is the sight of live goats grazing on its sod roof. Check out Al Johnson's Goat Cam if you miss seeing the goats during your visit.
Door County Camping
Looking for great places to stay in your RV during your Door County adventure? A secret budget location is Countryside Motel And RV Sites. We stayed here during our trip and enjoyed the ease of the big rig friendly pull-throughs. Another big rig friendly camping location to check out is the Door County KOA.
With its blend of natural beauty, charming towns, and exciting outdoor activities, Door County is the hidden gem of Midwest travel. From exploring historic lighthouses and quaint coastal towns to indulging in mouthwatering cherry treats, this destination deserves a spot on your Midwest RV travel bucket list. Are you ready to plan an RV trip to Door County, Wisconsin?
Scott, Vanessa, and their 14-year-old daughter have traveled in their RV for 9 years. They have worked and homeschooled on the road through 42 states so far. They blog about RVing tips, travel destinations, and the RV lifestyle at www.TheAdventureDetour.com. They are also RV content creators @theadventuredetour on Instagram, TikTok, YouTube, and Facebook.
