Aurora is a city in Saint Louis County, Minnesota, United States. The population was 1,682 at the 2010 census.
State Highway 135, County Highway 100, and County Highway 110 are three of the main arterial routes in the community.
According to the United States Census Bureau, the city has a total area of 3.9 square miles (10.2 km²), of which, 3.8 square miles (9.8 km²) of it is land and 0.1 square miles (0.4 km²) of it (3.56%) is water. It is surrounded by mixed coniferous/deciduous forest and is near many lakes.