-Hike at Yellow River Forest. That's a quick drive. Bluff Trail starts right by the main crossing of Paint Creek and is a steep, brutal climb but it takes you to a hell of an overlook. If you go to YRF, keep going to Waukon after your hike to get fresh curds from WW Homestead.
-Effigy Mounds is also a great hiking spot, and you get some cool area history.
-Pikes Peak State Park has iconic views of the river from the Iowa side and some cool waterfalls, and Wyalusing State Park on the Wisconsin side offers the same as well.
-McGregor and Prairie Du Chien are fun towns to bar hop in. In McGregor I'd hit Old Man River, Jade's, and the Pocket City Pub (It's sort of a KSU bar, so you were warned on that front). In PDC I like the Sawmill and Jim's for Bloody Marys, and the Black Hawk and Muddy Waters tend to have good live music on the weekend.
-There are fun road trip options along the river. On the Iowa side you can head down to Bill's in Clayton for a really good lunch/drinks spot or continue on to Guttenberg, which is a pretty town. There's a neat watefall on the north side of town I'd recommend checking out. On the Wisconsin side, I like to go north of Prairie and stop for drinks in Ferryville or supper at the Spring Lake Inn.