05AB1E, 8 bytes

œ€ü-nOtß

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Commented:

œ         # take all permutations of the input
 €        # for each permutation:
   -      #   take the element-wise difference
  ü       #   between each pair of adjacent points
    n     # square each number
     O    # sum all difference-lists
      t   # take the square root of every sum
       ß  # take the minimum

œ         # take all permutations of the input
 €        # for each permutation:
   -      #   take the element-wise difference
  ü       #   between each pair of adjacent points
    n     # square each number
     O    # sum all difference-lists
      t   # take the square root of every sum
       ß  # take the minimum