1. Cooktown

The northmost stop on our journey, Cooktown, sits on the Cape York Peninsula and offers a rich history.

The Cooktown esplanade is home to the Milbi Wall – a 12m curved piece of artwork made of almost 500 hand painted tiles, which tell stories from the Guugu Yimithirr people.

Visit the Cooktown Botanic Gardens to experience the tropical environment and see the rare and threatened plant species collected by Joseph Banks and Daniel Solander in 1770. The orchid house is home to Queensland’s floral emblem, the Cooktown orchid.

Drive to Grassy Hill for 360-degree views of Cooktown. For another perspective, take a sunset cruise to see the harbour, Endeavour River and smaller creeks, before gliding through mangroves by spotlight.

2. Port Douglas

Port Douglas is where the two UNESCO World Heritage areas of the Great Barrier Reef and the Daintree Rainforest meet. Tours to the outer reef depart daily from the marina, and it takes less than 30 minutes to drive to Mossman Gorge – the southern section of the Daintree.

Walking paths weave through the rainforest where you can spot the brilliant blue Ulysses butterfly and brush turkeys. Mossman River runs through the rainforest and has some safe swimming areas for visitors, but is known for its strong currents, cold deep water and slippery rocks so visitors are urged to take good care.

Macrossan Street is Port Douglas’ busy shopping and dining district, but for the best water views, head to the Tin Shed – a community and Sports Club on the waterfront. It’s the perfect place to enjoy a bucket of prawns while watching the sunset.

The iconic St Mary’s by the Sea chapel is nearby. The reconstructed historic chapel with original timbers and stained glass windows is a popular wedding venue.

A short walk from the chapel is Anzac Park, which hosts the huge Port Douglas markets held every Sunday from 8am to 11.30am. The markets include more than 100 stalls selling handmade products, art, crafts, tropical food and drinks.

3. Ellis Beach

Ellis Beach is the definition of paradise. You won’t want to leave this seaside sanctuary after arriving via the scenic Captain Cook Highway – a tropical version of the Great Ocean Road.

From your caravan, step onto the white sand, palm tree-lined beach and enjoy the blissful peace.

A beach-combing walk of about a kilometre takes you to the end of the bay and back, or stroll across the road to the Ellis Beach Bar & Grill for top food and views. Don’t be alarmed by the haunting call of curlews after dark – the bird’s loud and eerie call can be quite startling.

4. Etty Bay

For a wildlife experience like no other, stay at Etty Bay. Resident cassowaries emerge daily from the rainforest and purposefully strut through the caravan park and along the beach.

Warning signs advise not to feed or approach the prehistoric looking birds and one look at their horn like head, leaves little doubt why you shouldn’t attempt it. Kookaburras and curlews also frequent the park, creating a chorus of bird calls.

5. Townsville

Head to The Stand on Townsville’s beachfront and enjoy the vibrant lifestyle and dining options that locals and visitors love to frequent.

A 2.5km path along the foreshore leads past art installations and sculptures including the impressive Ocean Siren statue standing in the water near the jetty. This four-metre-tall structure illuminates at night in colours representing the water temperature surrounding the Great Barrier Reef.

From Townsville, take the walk-on ferry to Magnetic Island, then hop on and off the island’s buses to see historic military sites, picturesque bays, stunning beaches, and koalas in the wild.