Has there ever been an earthquake in Minnesota?

Yes. The USGS catalog lists 6 earthquakes of magnitude 2.5 or more inside Minnesota since 1900. The largest is magnitude 4.6, on July 9, 1975, and the latest is magnitude 2.8, on April 25, 2017.

Magnitude 3 or more by decade

Minnesota earthquakes of magnitude 3 or more, by decade

Minnesota earthquakes of magnitude 3 or more, by decade 1900s: 0 1910s: 1 1 1920s: 0 1930s: 0 1940s: 0 1950s: 0 1960s: 0 1970s: 1 1 1980s: 0 1990s: 2 2 2000s: 0 2010s: 0 2020s: 0 1900s1920s1940s1960s1980s2000s2020s

The largest

Largest earthquakes in Minnesota
Jul 9, 19754.6Near Morris, Minnesota6.2
Sep 3, 19174.3Central Minnesota—
Jun 5, 19934.111 km N of Johnson, Minnesota6.2
Feb 9, 19943.16 km NNE of Blomkest, Minnesota3.1
Apr 25, 20172.8Near Mankato, Minnesota0.0
Apr 29, 20112.5Minnesota3.1