If you are looking for a place to have a beautiful afternoon or evening stroll, I would suggest heading across the state border into Osceola, Wisconsin to walk the Cascade Falls Trail. At 0.6 miles (out and back), this is an easy walk minus some steps at the beginning and end, which passes a moderate sized waterfall, features enchanting boardwalks, and ends at the St. Croix River. Head back to the trailhead the way you came to continue an easy walk, or if you are up for a challenge, take the Eagle Bluff Trail back. This results in a 0.3 + 0.8 mile loop back to the trailhead. The Eagle Bluff Trail ascends up a short but steep hill (~200ft) along a dirt path.
Willow River State Park - Wisconsin
If you are looking for an impressive waterfall worth hiking to near Minneapolis and St Paul MN, check out Willow Falls at Wisconsin’s Willow River State Park. Trails access the falls on both sides of the river. The Willow River trail is 1.2 miles round trip and the Burkhardt Trails is 2 miles round trip.