From Madison, it’s just a short drive to see the west side of Lake Michigan, but across the water are many beautiful lake towns that could all be worthy of a trip. If you like visiting Door County, consider one of these destinations as well.

St. Joseph is a small beach town known as “The Riviera of the Midwest,” with two connected lighthouses off the coast.

While South Haven is known for its sunsets and views, it’s also called the “Blueberry Capital of the World,” and it hosts the National Blueberry Festival every August.

Next door to Holland is Saugatuck, where you’ll have a great time exploring Saugatuck Dunes State Park.

Grand Haven has shopping, picturesque views of Lake Michigan and The Grand Haven Coast Guard Festival, hosted every summer by the city that was the first to be designated Coast Guard City, USA.

To get to Muskegon and walk along its miles of beaches and trails (plus Michigan’s Adventure Amusement and Water Park), hop on the Lake Express Ferry out of Milwaukee for a scenic route that shaves off hours of drive time in the summer

Find more Midwest travel ideas here.