The survey’s overall margin of error was plus or minus 3.6 percentage points.
The 3-point lead for Mr. Biden is smaller than what other recent public polling has shown. The former vice president has a 7-point edge in the latest Real Clear Politics average.
Hillary Clinton barely carried the state over Mr. Trump in 2016, though it has not broken for a Republican presidential candidate since 1972.
In Minnesota’s U.S. Senate race, Democratic Sen. Tina Smith held a 3-point, 48% to 45% lead over former GOP Rep. Jason Lewis in the poll.
The survey of 733 “likely registered voters” was conducted from Aug. 8-10.