Princeton is a city in Mille Lacs and Sherburne counties in the U.S. state of Minnesota, at the confluence of the Rum River and its West branch. The city is 50 miles north of Minneapolis and 30 miles east of St. Cloud, at the intersection of Highways 169 and 95. The population was 4,698 at the 2010 census. A majority of its residents live in Mille Lacs County.