Hidden Falls Park. Several miles on walkable/fishable shoreline all the way down to the highway 5 bridge.
Fort Snelling. Take the walking path down to Pike Island and fish the confluence area where the Minnesota and Mississippi river meet.
The Lillydale boat access. Fishable shoreline both up and down stream from that access.
Navy Island. (Under the Wabasha Bridge – Downtown) Fish the downstream point area of the island.
The Public docks at Harriet Island.
Those are all off the top of my head. All have parking. Good Luck.