Princeton is a city in Mille Lacs and Sherburne counties in the U.S. state of Minnesota, at the junction of the Rum River and its West Branch. It is 50 miles north of Minneapolis and 30 miles east of St. Cloud, at the intersection of Highways 169 and 95. The population was 4,819 at the 2020 census and an estimated 5,311 in 2022. A majority of its residents live in Mille Lacs County.