I was able to get pictures of the Minotaur I launch from NASA Wallops. I had to use the iPad because I haven't figured out how to have a long exposure with my new camera.
The rocket is the faint dot in the middle of the pictures just above the lights of the water treatment facility. These pictures were taken from Rock Manor golf course just across the for the water tatement plant and reservoir. If you stand on top of one of the berms next to the golf course you can look south southeast and see the Delaware Memorial bridge, which is the right direction for north of Wilmington to see a launch from NASA wallops.