Madison to Ely Road Trip: Hidden Gems & Natural Wonders

Leaving Madison, WI, via US-51 north, you'll cross the Wisconsin River near Merrill, a historic logging town. The drive to Ely, MN, spans about 370 miles and takes 6 to 7 hours of pure driving, but expect longer with stops. This route traverses the terminal moraine of the last glacial period, leaving behind thousands of lakes and rolling forests.

The transition from southern Wisconsin's dairy farms to the ancient Shield rock of the Boundary Waters is a geological journey. US-51 becomes WI-29 near Wausau, then WI-17 north to the Michigan border, connecting to US-2 in Hurley, WI. From there, MN-169 and MN-1 lead into Ely, the gateway to the Boundary Waters Canoe Area Wilderness (BWCAW).

For more on finding the best stops between cities, see how to find the best stops and hidden gems between cities.

Road safety: Wildlife crossings are common—moose and deer active at dawn/dusk. Snow possible from October to April. Winter tires recommended December through March. Service plazas are infrequent; rest stops exist near Wausau, Tomahawk, and Hurley.

• Family-friendly stops: Leigh Yawkey Woodson Art Museum (Wausau), Wildwood Wildlife Park (Minocqua), Bear Den Zoo (Ely)
• Pet-friendly stops: Pet-friendly motels in Hurley and Ely, rest areas with pet walks, and hiking trails in state parks (leash required)

Fatigue management: Break every 2 hours. Ideal rest stops include the shores of Lake Tomahawk, the scenic overlook at the Michigan/Wisconsin border on US-2, and the rest area at the junction of MN-1 and MN-169. For a longer break, picnic at the St. Croix River near Danbury, WI.

Hidden off-route spots: The unlikely gem of Gile Falls (MI) off US-2 east of Hurley, and the Lost Lake Nature Trail near Mercer, WI. These require minor detours but offer solitude.

The route is primarily two-lane highways with occasional four-lane segments near Wausau. Cell service is patchy north of Tomahawk, WI. Gas stations become sparse north of Woodruff, WI. Plan to fill up in Wausau and again in Hurley or Ironwood, MI.

• Key highways: US-51, WI-29, WI-17, US-2, MN-169, MN-1
• Tolls: None
• Road conditions: Generally good, but watch for deer and frost heaves in spring

Fuel economy: Expect 10-15% lower MPG due to rolling hills. Average gas price (2025) around $3.50/gal. Total fuel cost roughly $60-$80 for a typical sedan.

Best stops Madison, WI to Ely, MN include Merrill's historic downtown, the waterfalls in Copper Falls State Park, and the scenic drive along the St. Croix River near Danbury. For hidden gems, see the linked article above.

The landscape shifts from deciduous forests to mixed conifers near the Wisconsin/Michigan border. The Penokee-Gogebic Range offers iron-rich rock formations. In Minnesota, the Superior National Forest presents dense pine and numerous lakes.

• Natural highlights: Copper Falls State Park (WI), Potato River Falls (WI), St. Croix National Scenic Riverway (WI/MN), Bear Head Lake State Park (MN)
• UNESCO sites: None directly on route, but the nearby Apostle Islands National Lakeshore (WI) is a tentative site. The entire BWCAW is a protected wilderness.

Local commerce thrives on tourism and mining. In Hurley, visit the Iron County Historical Museum. In Ely, the International Wolf Center and North American Bear Center offer family-friendly learning. Craft breweries abound: try the Minocqua Brewing Company or Ely's Boathouse Brewpub.

Culinary stops: The Blue Moon Bar & Grill in Butternut, WI for Friday fish fry; The Chocolate Shop in Hurley for hand-dipped treats; and Ely's Zaverl's Supper Club for classic Wisconsin-style steak.