Green Bay and Door County

62.3 miles: 1 hours, 8 minutes

Stretch your legs at Bay Shore Park and take in a dazzling can’t-miss view of the bay from gunmetal-gray cliffs. Cross a drawbridge over Sturgeon Bay, then drive through miles of farmland dotted with red barns. In Egg Harbor, explore antique shops, art galleries and restaurants in restored historic buildings along a tidy waterfront, where boats bob in the marina.

34.7 miles: 1 hours, 12 minutes

Make a pit stop in Fish Creek, a quaint village noted for its art galleries, summer stock theater and proximity to Peninsula State Park, where limestone cliffs provide a vantage point for sweeping panoramas of Green Bay and the Strawberry Islands. In Gills Rock, don scuba gear and check out well-preserved shipwrecks in Porte des Morts (Death’s Door) Strait.

41.1 miles: 1 hours, 0 minutes

On your way to Sturgeon Bay, stop in Baileys Harbor, a Cape Cod-like town complete with a photogenic lighthouse. In Sturgeon Bay, charter boats crowd marinas, and local waters are packed with freshwater fish. While anglers cast their lines, shopaholics will be lured to Third Avenue’s lineup of specialty stores and art galleries.

59.8 miles: 1 hours, 22 minutes

Drive south through farmland interrupted by woods and marshes. Stop in Algoma for a peak at a cherry red 1932 lighthouse. The last stretch of SR 42 runs parallel to the Ice Age National Scenic Trail, perfect for hiking and pretty scenery. In Manitowoc, rent a kayak at the marina, hit the beach and enjoy the arts at a restored 1921 theater.