Currently, Canadian citizens, including children, DO NOT require a passport to enter the United States by land.
Canadian citizens should, however, carry documents that demonstrate their identity and citizenship. The following documents are some accepted forms of identification:
Oral declarations of identity and citizenship may be accepted, but it is recommended that travellers carry identification.
A valid Canadian passport, NEXUS card and Free and Secure Trade (FAST) card (for highway commercial travel only) are always acceptable travel documents to enter the United States by land.
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More information: American Consular Services