Join Date: Jan 2006
Location: DEN
Programs: UA 1K (MM), DL, AA, AS, HHonors, SPG, Kimpton, Hyatt, IC PC, Marriott Titanium (LT PLT), Hertz PC
Posts: 7,231
While I agree that MSP is well signed and easy to get around, it is also quite large! A hike from one end of the terminal will take 20 minutes, even with the tram.
I would book a 30 minute connection, but I know the airport, and I am not traveling with a 2 year old.
I would look for a longer connection, or at least make sure you know what the alternate flights are in case you don't make it.
Good luck!