Hudson, Wisconsin is more than just a charming riverfront town—it's also the perfect jumping-off point for exploring the natural beauty, history, and local flavor of Western Wisconsin. If you’re staying at Hudson Royal Inn and looking to experience more without straying too far, these six day trips offer unforgettable views, delicious food, and classic small-town charm—all within an hour's drive.
Whether you're into hiking, history, shopping, or sipping local wines, these nearby destinations make the most of your time in the St. Croix Valley.
1. Stillwater, MN – A Vintage River Town Just Across the Bridge
Drive time: 10 minutes
Hop over the St. Croix River and step back in time. Stillwater, MN is often called the “birthplace of Minnesota” and is known for its historic downtown, antique shops, and bluffside views.
What to do:
- Stroll the
Stillwater Lift Bridge and scenic riverwalk
- Browse dozens of antique and boutique stores
- Take a
paddlewheel boat cruise on the river
- Enjoy rooftop dining with river views at
Papa’s or
The Dock Cafe
Stillwater is perfect for a relaxing afternoon and a meal with a view.
2. Afton, MN – Hiking and Heritage
Drive time: 25 minutes
For outdoor lovers, Afton offers a quiet escape with a mix of nature and Nordic charm. It’s home to
Afton State Park, a popular destination for hiking, picnicking, and stunning river valley vistas.
Top activities:
- Hike the bluffs and trails of
Afton State Park
- Shop small at local artisan boutiques in Afton village
- Visit
Afton Alps (in winter) for skiing and snowboarding
- Grab coffee or lunch at
Selma’s Ice Cream Parlour or
The Lumberyard Pub
Afton feels like a peaceful escape without venturing far.
3. Prescott, WI – River Views and Relaxed Vibes
Drive time: 20 minutes
Prescott is where the Mississippi and St. Croix Rivers meet. It’s a great place to relax by the marina, visit a few riverfront taverns, or take a walk through the town’s small downtown.
Don't miss:
- The scenic overlook at
Freedom Park Great River Road Visitor Center
- Riverfront dining at
Muddy Waters Bar & Grill
- Fishing, boating, or a quiet riverfront walk
Prescott makes a great quick trip when you want a peaceful view and laid-back atmosphere.
4. Ellsworth, WI – Cheese Curd Capital of Wisconsin
Drive time: 35 minutes
If you’re a fan of cheese curds (who isn’t?),
Ellsworth is your day trip destination. Known as the “Cheese Curd Capital of Wisconsin,” this small town is home to the
Ellsworth Cooperative Creamery, where you can try freshly made curds in several varieties.
Other things to check out:
- The
Ellsworth Cheese Curd Festival (held annually in June)
- Small-town charm, murals, and bakeries downtown
- Nearby country drives through scenic Pierce County
Bring a cooler—you’ll want to stock up on cheese curds before heading back to Hudson!
5. Osceola, WI – Waterfalls and Railcars
Drive time: 45 minutes
This hidden gem is located along the bluffs of the St. Croix River and is best known for
Cascade Falls, a 25-foot waterfall tucked right in town. Osceola is also home to the
Osceola & St. Croix Valley Railway, which offers seasonal train rides through the countryside.
Highlights include:
- A short walk to
Cascade Falls from downtown
- Train excursions with vintage cars and river views
- Kayaking, tubing, and canoeing along the river
- Lunch at
The Watershed Cafe or
PY’s Bar and Grill
It’s a great blend of nature and nostalgia, perfect for couples or families.
6. Pepin, WI – Lake Views and Laura Ingalls Wilder
Drive time: 1 hour
For a full-day adventure, drive south along the Great River Road to
Pepin, a picturesque village on the banks of
Lake Pepin, a natural widening of the Mississippi River.
What to explore:
- Visit the
Laura Ingalls Wilder Museum
- Enjoy wine tasting at
Villa Bellezza Winery, styled like an Italian villa
- Shop artisan gifts and crafts along the lakeshore
- Take in lake views with a meal at
The Pickle Factory or
Harbor View Café
This one’s worth the extra drive—especially in the fall when the leaves are turning.
Tips for Making the Most of Your Day Trips
- Start early: Most of these destinations are less than an hour away. Head out in the morning to make the most of your day.
- Pack snacks or a cooler: Especially if you’re planning to buy fresh cheese, local meats, or wine along the way.
- Dress for the weather: Many of these trips include outdoor stops. Bring layers and good walking shoes.
- Charge your phone or camera: You’ll want to snap photos of bluffs, waterfalls, wineries, and more.
Stay Local. Travel Easy. Rest Well.
After a full day of exploring the scenic St. Croix Valley, come back to comfort at
Hudson Royal Inn. Located right off I-94 and just minutes from the river, our independently owned motel offers quiet, clean, and convenient accommodations with everything you need:
✔ Sealy Posturepedic Beds
✔ Free Wi-Fi
✔ Microwave & Mini-Fridge
✔ 32” HD TV with DirecTV
✔ At-Door Parking
✔ Non-Smoking Rooms
✔ Deluxe Upgrades Available
Whether you’re on a romantic getaway, solo road trip, or exploring with friends, we make a great home base for day trips all across Western Wisconsin.
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Hudson Royal Inn
1509 Coulee Road
Hudson, WI 54016
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Tel: (715) 386-2366
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Make your Hudson stay affordable, restful, and close to all the best Western Wisconsin has to offer.
