In this paper we characterize graphs which maximize the spectral radius of their adjacency matrix over all graphs of Colin de Verdière parameter at most $m$. We also characterize graphs of maximum spectral radius with no $H$ as a minor when $H$ is either $K_r$ or $K_{s,t}$. Interestingly, the extremal graphs match those which maximize the number of edges over all graphs with no $H$ as a minor when $r$ and $s$ are small, but not when they are larger.