I have been thinking the same thing and the same question keeps popping into my mind, what do I feel are the weaknesses of the D3100? Once you can answer that (and have a budget) you can see what is out there to fill the gaps.
I'm leaning towards either a D90 or D300S but it won't be for a while for me.
I have an almost new 3100 and wished i waited an gone for the d90, mainly due to be able to get non motor lenses such as the 50mm prime _ £60 rather than and 160 and also 70 / 300 for £80 rather than 200. Was offered an almost new d90 body for £350
I have a D90 and have just recently bought a D7000. The D90 is a cracking camera and the only major difference between the two in terms of photographic capability is the ISO performance.
You wouldn't regret stepping up to the D90 and unless you do a lot of indoor shooting then it will meet all your requirements. I originally stepped up from the D60 and haven't looked back.
All great suggestions in this thread but I think you need to be clear on your reasons to want to upgrade. Is it better IQ, better low light, higher frame rate, more controls, internal motor, bracketing, weather proofing blah blah etc....
Once you know what your priorities are, the decision is making is much easier.
Why you need to upgrade? what your camera does not do at the moment that you would like it to. What do you take pictures of? What is your budget? What lens/es do you own?
Answer those question and your upgrade path will become infinitely more clear.
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