[2] US 10 enters the state and Pierce County from Minnesota at Prescott and immediately joins with Wisconsin Highway 35 (WIS 35) north.

[5] In northern Trempealeau County, the highway crosses WIS 93 at Eleva, passes through Strum, and junctions with US 53 and I-94 in Osseo.

The highway then meets I-39/US 51 north of the city and runs concurrently with I-39/US 51 for about seven miles (11 km) before exiting to the east of Stevens Point.

At this point, US 10 becomes a multilane surface road for about six miles (9.7 km), then becomes an expressway and heads southeast, passing through Amherst and crossing into Waupaca County.

US 10 then turns south into downtown where it continues into Michigan via the SS Badger car ferry to Ludington.

[16] When US 10 was designated in late 1926, it ran along US 12 from Minnesota east to Humbird, splitting there to run to Manitowoc.

[18] At their spring meeting in 2015, the American Association of State Highway and Transportation Officials committee extended US 10 to include the route of SS Badger between Ludington and Manitowoc.