Given a metric space (X, d X ), a (β, s, ∆)-sparse cover is a collection of clusters C ⊆ P (X) with diameter at most ∆, such that for every point x ∈ X, the ball B X (x, ∆ β ) is fully contained in some cluster C ∈ C, and x belongs to at most s clusters in C. Our main contribution is to show that the shortest path metric of every K r -minor free graphs admits (O(r), O(r 2 ), ∆)sparse cover, and for every ϵ > 0, (4 + ϵ, O( 1 ϵ ) r , ∆)-sparse cover (for arbitrary ∆ > 0). We then use this sparse cover to show that every K r -minor free graph embeds into ℓ)⋅log n ∞ with distortion O(r)). Further, we provide applications of these sparse covers into padded decompositions, sparse partitions, universal TSP / Steiner tree, oblivious buy at bulk, name independent routing, and path reporting distance oracles.