Wisconsin road trips almost inevitably lead to the water—Lake Michigan, Lake Superior, the Mississippi River or one of the many lakes that dot the state. Savor the sweet abundance of scenic bluffs, dense forests, beaches and inviting towns along these water-focused routes, and discover a few surprises along the way.

Wisconsin's 250-mile stretch of the Great River Road leads to small Mississippi River towns with hiking, fishing, birding, shopping and dining with a view. In Alma, for instance, head to Buena Vista Park for great views of the Mississippi, and sample comfort food and live music at Pier 4 Cafe. Watch for eagles soaring along the bluffs (and if you like, take the bridge across the river to Wabasha, Minnesota, where you can learn more about the majestic birds at the National Eagle Center).

Related: Top Things to Do Along Wisconsin's Great River Road

Wisconsin's Marinette County Waterfall Tour is a showstopper year-round, especially during autumn when the wild reaches of northern Wisconsin transform into a dazzling patchwork of color. This snaking, 125-mile route features 15 tranquil waterfalls, many of which are in storybook settings with arched bridges and meandering hiking trails (look for the signature blue waterfall tour signs or use a downloadable map). Stretch your legs and make the most of your time in this region by paddling its crystal-clear rivers, picnicking, and wildlife-spotting along its forested parks. 

This 115-mile route from Elkhart Lake to Whitewater Lake traverses the Southern and Northern units of Kettle Moraine State Forest. The drive runs by glacial landforms that define the area, with plenty of opportunities to explore wetlands, lakes, moraines, potholes and more formed thousands of years ago by retreating glaciers. It's a geology enthusiast's dream, but it also appeals to anyone who wants to experience the ethereal beauty of the state. Note: the Kettle Moraine Scenic Drive includes a number of turns; drivers should watch for the green acorn signs or follow the turn-by-turn instructions.

Related: Weekend Getaway at Elkhart Lake

This 66-mile loop showcases Lake Michigan and Green Bay at its finest (the body of water, not Packer Central). With its clapboard cottages and miles of craggy shoreline, Door County draws travelers from all over to experience a taste of New England in Wisconsin; the area has been called the Cape Cod of the Midwest. Highlights include commercial center Fish Creek, art haven Egg Harbor and Scandi-central Sister Bay. 

Related: The Ultimate Guide to Door County's Charming Towns and Islands

Known as the Lower Wisconsin River Road Scenic Byway, Highway 60 from Lodi to Prairie du Chien winds through rolling hills untouched by glaciers in the Driftless Region and connects to Wisconsin's Great River Road. Along the way, Wollersheim Winery and Distillery, the Ice Age National Scenic Trail and St. Feriole Island introduce visitors to the land and its bounty. Near Spring Green, enjoy a detour to take in the architectural wonders of Frank Lloyd Wright's Taliesin. 

Related: In Wisconsin's Driftless Area, Female Fly-Fishers are Breaking Barriers Down

Encircled by the Chequamegon-Nicolet National Forest, the 145-mile Nicolet-Wolf River Scenic Byway introduces visitors to a true "Up North" experience. Ed's Lake National Recreation Trail is a favorite stop for hiking and biking in warmer months and for Nordic skiing in winter. You can also explore Native American heritage in this area, with spots such as the Wabeno Logging Museum and the Forest County Potawatomi Community Cultural Center and Museum.  

Related: These Native American Museums Beautifully Showcase Indigenous People's Expressions of Today

The Lake Superior National Scenic Byway has earned a reputation as a bucket-list Midwest road trip, tracing Lake Superior's edge along the northernmost piece of the state. Don't miss Apostle Islands National Lakeshore and Copper Crow, the nation's first Native American-owned distillery. Stay at the wellness-focused Wild Rice Retreat in Bayfield to lengthen this 70-mile trip. 

Related: This Unique Way to Explore Bayfield Focuses on Wellness and Outdoor Adventure

From Lodi, this 2-plus-hour route passes through Gibraltar Rock State Natural Area and Devil's Lake State Park, which both offer stunning hikes with unique rock formations. Don't miss Parfrey's Glen State Natural Area, a spectacular gorge near Devil's Lake, Wisconsin's most-visited state park. The Wisconsin River / Baraboo Hills Scenic Drive also includes a free car ferry over the river and access to the family-favorite Wisconsin Dells (aka the waterpark capital of the world). Road trippers can also find an Ice Age National Scenic Trail segment in this area. 

Related: Top Things to Do in the Wisconsin Dells

The Lake Michigan Maritime Tour will quench your thirst for lake experiences; the route traces more than 40 miles of Lake Michigan shoreline, allowing you to explore its plentiful small fishing villages and shimmering water views along State Highway 42 before entering Door County. When you reach Algoma, consider stopping at Wisconsin's oldest winery, von Stiehl, for a hard cider pressed from local apples, or meander along the Crescent Beach Boardwalk for a breath of fresh air.  

Related: 20 Top Things to Do in Wisconsin