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No-frills motel in Fort Madison In Fort Madison Stay at this Fort Madison motel and you'll be within 16 miles (25 km) of Baxter's Vineyards and Nauvoo Park. Lovers Glen Park and Joseph Smith Historic Site are within 16 miles (25 km). Free breakfast and parking Knights Inn Fort Madison doesn't skimp on freebies - guests receive free continental breakfast and free parking. A 24-hour front desk is also at your disposal. Cable TV Guestrooms offer coffee/tea makers, cable TV, and free weekday newspapers. Other amenities include free local calls, hair dryers, and ironing boards.