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Here Are 20 Great Road Trips From Milwaukee

There are a lot of great road ideas for anyone living in Milwaukee! Centrally located in the upper midwest, there are a lot of options to get “out of town” for a weekend or an extended vacation. All of the destinations on this list are doable in under six hours. Some might be familiar and others might pop on your radar for the first time! Hopefully you’ll find at least one or two ideas on our list of the best road trips from Milwaukee!

1. Indianapolis, IN

best road trips from Milwaukee

Indianapolis, a great road trip from Milwaukee, was one of the first cities I explored when I started this website back in 2013.  Obviously, it’s famous for hosting the Indy 500 and a tour of the famous speedway is a must when you visit.  But Indy is great for more than just race cars.  Start with a look at the famous Monument Circle downtown and work your way to the Children’s Museum of Indianapolis – hands down the greatest museum for families in the country. It’s amazing!  Check out the beautiful canal walk that runs through White River State Park, or go for some Duck Pin bowling in Fountain Square.  History buffs can check out Benjamin Harrison’s house, and if you’re a foodie – Indy is loaded with great restaurants!

2. St. Louis, MO

St Louis Wheel Union Station

St. Louis is a wonderful destination for families on a budget with so many fun and FREE things to do! In addition to the Gateway Arch, you can visit attractions in historic Forest Park like the St. Louis Zoo, St. Louis Art Museum, Missouri History Museum, and the St. Louis Science Center for no charge at all! Kids will love a visit to the City Museum with its iconic ferris wheel and school bus up on the roof of the building. St. Louis Union Station is full of fun experiences and depending on the time of year, grab tickets to a Cardinals game at Busch Stadium. Don’t forget to try toasted ravioli, thin crust pizza, and delicious frozen custard from Ted Drewes on Route 66!

3. Cincinatti, OH

short road trips from milwaukee

Cincinnati is a perfect road trip if you want to catch the Brewers on the road while playing the Reds. (Mainly because their stadium is mostly empty and it’s easy to get tickets!)  But truly, Cincy has some fun things to check out.  The beautiful Cincinnati Museum Center, once a train terminal, now houses museums and special exhibits.  One of my favorite museums in the entire country is located in Cincinnati – The American Sign Museum.  Consider taking one of the many guided tours that will showcase the local beer scene, or historical spots around town.  The downtown riverfront park has recently undergone renovations and is a great place to ride a bike or take a walk.

Bill’s Advice: If you only have time to do one thing in Cincinnati, go and visit the American Sign Museum.  It’s so cool!  I included it in my first book – 100 Things To Do In America Before You Die .  You’ll thank me for the suggestion! 

4. Springfield, IL

Road trips from Milwaukee

About four hours away from Milwaukee, Springfield is a perfect weekend getaway. Rich in history, it’s best known for its ties to Abraham Lincoln. You can visit the only home he ever owned and see his final resting place. The Lincoln Presidential Museum is also a must-see! Tour the Illinois state Capitol building and take a tour of the Governor’s mansion. (Don’t make any jokes about how many of them wind up in prison – they don’t think it’s as funny as we do.)  There is also a wonderful Frank Lloyd Wright property – the Dana Thomas House in Springfield that is worth touring if you love seeing his work.

5. Madison County, IA

Winterset water tower

I’ve been visiting Winterset and Madison County for years and always enjoy each opportunity to pass through this mostly quiet, unassuming community located a short drive from Des Moines.  If you love the feel of small town U.S.A. where people are still patriotic and treat their neighbors like family – this is the place for you.  It’s a perfect trip for a romantic getaway or an extended weekend for small town shopping, and outdoor recreation.  It’s best known as the hometown of movie legend John Wayne and famous for its beautiful covered bridges that were featured in the film  The Bridges Of Madison County.   Also, be sure to check out the Iowa Quilt Museum and the newly restored movie theater on the square –  The Iowa.   If you’re looking for the best local hangout – Winterset Cidery is the place, with homegrown cider and regular events including live music.

6. Chicago, IL

Chicago skyline from Skydeck at Willis Tower

Chicago may be suffering from some bad press in recent years but it’s still a really fun city with so much to see and do! I was there for a visit in the spring of 2023 and had an absolute blast! If it’s been awhile since you visited the Windy City – consider a trip to the top of the Willis Tower and experience SkyDeck for a cool look at the city. You can’t go wrong with iconic attractions like Shed Aquarium and the Field Museum. Love pizza? Take a Chicago Pizza Tour to sample various pies from around town including the famous deep dish style!

If it’s your first time visiting, consider reading my first timers guide to Chicago!

7. Marquette, MI

short road trips from milwaukee

Marquette is a great spot to start an extended road trip to explore Michigan’s Upper Peninsula! Whether you stick close to the town or keep driving along Lake Superior down to Mackinaw Island, there are plenty of beautiful sights to behold including tons of waterfalls! The waterfall pictured above is Bond Falls – one of the estimated 300 waterfalls in the “U.P.” Exploring this region is one of the best road trips I’ve ever taken.

8. Detroit, MI

short road trips from milwaukee

Don’t discount Detroit as a road trip destination! The motor city is still very much alive with a revitalization of its downtown and longtime favorite attractions like the Motown Museum and the nearby Henry Ford Museum in Dearborn. Located less than six hours from downtown Milwaukee, Detroit has wonderful restaurants, museums, the historic Fox Theater, and plenty of sports!

9. Parks County, IN

short road trips from milwaukee

Parke County, Indiana is best known as the “covered bridge capitol of the world”! Located about 4.5 hours from Milwaukee, you’ll find a great relaxing destination with some much needed peace and quiet. You can grab an old fashioned map (remember those?) at the local visitors center and then set out to find as many of the historic covered bridges as you can, making it a perfect romantic getaway. Consider booking a room or campsite at Turkey Run State Park, Indiana’s most popular state park, for your home base. They offer brand new, minimalist cabins as well. The park has plenty of great hiking trails for all skill levels.

10. Madison, WI

short road trips from milwaukee

The state capital seems like a no-brainer as it’s super close but Madison is always a fun road trip destination. The nearby college town has lots of things to do – one of my favorites being the Dane County Farmer’s Market. The longtime event wraps around the entire Capitol building. Patrons all walk in one direction to shop for fresh produce and local goods.  Of course, State Street is full of action – all seven blocks between downtown and the University of Wisconsin campus. You can find food (140 restaurants!) unique stores, and plenty of entertainment day or night.

11. Louisville, KY

short road trips from milwaukee

Of course most people know Louisville as the place where the famous Louisville Slugger baseball bats are made, but that’s just the start!  Downtown Louisville offers a wide variety of attractions from the Muhammad Ali Center to Churchill Downs where the Kentucky Derby takes place.  For an adventure – try out the world’s only underground zip line at Louisville Mega Cavern or a cruise on the historic Belle of Louisville.  Lots of great restaurants for all tastes and cool places to stay including 21c and The Galt House Hotel.

Bill’s Advice:  Louisville is a great extended weekend trip!  If you love Kentucky Fried Chicken, pay your respects to Col. Sanders himself.  His grave site is a short drive from downtown.  Just follow the yellow line at Cave Hill Cemetery and you’ll find it.  Don’t be surprised if you see a bucket of chicken sitting on the tombstone.  No, seriously. 

12. Quad Cities Region

short road trips from milwaukee

Talk about getting your bang for the buck – how often do you get four destinations packed into a single stop? The Quad Cities is made up of five towns that share the Illinois-Iowa border.  (Yes, “quad” makes no sense as there are five and not four – but believe me, they know.)  It’s best known as the world headquarters for John Deere, and visitors can tour multiple historical spots that tell the story of the famous company.  Take a quick side trip up to LeClaire on the Iowa side to see where the show American Pickers began.

13. Fort Wayne, IN

Fort Wayne is an easy road trip from Milwaukee

Fort Wayne is probably not a spot that’s been on your radar but Indiana’s second largest city has a lot going on. Its minor league baseball stadium is award winning and its local library is known as the best genealogy research center in the country. The Fort Wayne Children’s Zoo is one of the best designed kid-friendly zoos around and a brand new, beautiful  riverfront project  has injected new energy into the town.  You’ll also find lots of opportunity for outdoor recreation.

Bill’s Advice:  For something unique, visit the headquarters for Sweetwater – one of the largest music and instrument stores in the world. Vera Bradley is also headquartered in Fort Wayne and has events during the year.  

14. Indiana Dunes National Park

short road trips from milwaukee

Yes, Milwaukee has beaches along Lake Michigan – but I thought we wanted to road trip?! Often underrated are the northern beaches of the midwest which are often less crowded, cleaner, and have sunsets that are just as beautiful. You can check out:  Indiana Dunes  for info on places to stay and things to do in the region. You can sit back and relax, rent a paddle board or kayak and watch your kids burn off energy running up and down the impressive sand dunes.

15. Door County, WI

Al Johnson's Door County

Door County is always a reliable road trip destination with beautiful scenery along with great places to eat and outdoor recreation. Grab some pancakes at Al Johnson’s Swedish restaurant while you gawk at the goats walking on the roof; enjoy a sunset cruise; antique shopping; swim or go for a hike at one of the area’s many parks! There’s so much to do!

16. Holland, MI

short road trips from milwaukee

If you thought Holland was in Europe – you are correct!  But, America’s Holland is located in Michigan and it’s a cool town worth exploring.  Pick up a pair of wooden shoes (pictured above) and walk along the streets of downtown for great shopping and lots of dining options. (Fun fact: the streets of downtown Holland are heated so they don’t have to plow snow in the winter.  Genius!)  Holland is also home to the only authentic Dutch wind mill that is still operational in the U.S.  If tulips are your thing – visit during the annual  festival  each spring.  The Holland Bowl Mill is also very cool – ask them for a quick tour of the production and find a one of a kind wooden bowl to take home!

Bill’s Advice:  1) You can save time by taking the ferry across Lake Michigan. 2) I eat a lot of pizza when I’m on the road and Holland has one of the best pizza places I’ve ever been to.  It’s called  Fricano’s Pizza  and sometimes, I have dreams about it.

17. Dayton, OH

short road trips from milwaukee

Dayton is best known as the place that gave birth to modern aviation. The Wright Brothers called Dayton home and the city is full of historic places that will give you a front row seat to the history of the “flying machine” which is how the first airplane was trademarked. One of the original Wright Brothers bicycle shops is still in tact, and you can see an original Wright Flyer at the Carillon Historical Park. Take a ride over to Huffman Prairie Field where the brothers tested out there invention or tour the mansion where they lived. Best of all – Dayton is home to the Museum of The United States Air Force – an unbelievable airplane museum that consists of four different hangars and impossible to see in a single day. See rare military aircraft and even go on board a retired Air Force One plane. And it’s free!

18. Wisconsin Dells

short road trips from milwaukee

It’s probably a place you’ve been to as a kid but the Wisconsin Dells are still a solid choice for a fun family getaway. With hundreds of waterslides and quirky attractions, it’s not only a fun stop but an easy road trip from Milwaukee.

19. Traverse City, MI

short road trips from milwaukee

This one requires taking the ferry across Lake Michigan but it’s worth it! Best visited in late summer or early fall, you’ll enjoy your share of cherries and everything you can imagine with a cherry theme! Sleeping Bear Dunes is a must when you visit as well as a day downtown to explore over 150 shops and restaurants!

20. Galena, IL

short road trips from milwaukee

Galena is best known as a historic town with an abundance of beautifully preserved 19th-Century buildings. It’s also known for its ties to President U.S. Grant who owned a home there which is open for tours. Horseshoe Mound is a popular spot for viewing three different states at once. Wineries, antique shopping, boutique hotels – it’s a perfect weekend getaway from Milwaukee.

short road trips from milwaukee

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The Winding Road Tripper

16 Fun and Relaxing Weekend Getaways From Milwaukee

This post may include affiliate links. As an Amazon Associate, I (The Winding Road Tripper) earn from qualifying purchases.  Read more . 

Milwaukee is our hometown, and we love enjoying all it offers . But sometimes, taking a little weekend trip from Milwaukee to explore something new feels refreshing.

Below we have listed several options for weekend trips from Milwaukee categorized by driving time from the city. 

So whether you are looking for a short or a little bit longer drive, we have some great options!

Let’s find that perfect weekend trip from Milwaukee!

Weekend Getaways from Milwaukee: 1 Hour or Less

Map of Milwaukee area with driving distance of 1 hour away highlighted

Sheboygan, WI

Sheboygan, WI, is a beautiful city on the shores of Lake Michigan. It’s a great place to spend a weekend getaway, as there are plenty of things to do and see . Some highlights include the John Michael Kohler Arts Center (the bathrooms are a must-see), the Kohler-Andrae State Park , shopping along 8th Street, and learning to surf.

Sheboygan is known as the “Malibu of the Midwest.” Surfing in Sheboygan is year-round, but the waves are typically the best from August to April. You can rent gear from Eos Surf Shop if you are a seasoned surfer. They also offer lessons for both surfing and kite surfing. 

Image of Neon Sign that reads "Malibu of the Midwest"

The Kohler-Andrae State Park is a beautiful park on the shores of Lake Michigan. It’s a great place to go for a hike, swim, or just enjoy the views.

Downtown Sheboygan is a great place to walk around and explore. There are plenty of shops and restaurants to check out, and it’s a great place to people-watch. Mural hunting is also a favorite pass time for weekend travelers.

Where to stay: Lake View Mansion Bed & Breakfast

Lake View Mansion Bed & Breakfast is a beautiful bed and breakfast in downtown Sheboygan. Rooms are comfortable and spacious, and the staff is friendly and welcoming. The bed and breakfast also features a delicious breakfast. It’s perfect for a weekend getaway to Sheboygan.

Sheboygan is a great option if you’re looking for a weekend getaway close to Milwaukee. It’s a beautiful city with plenty to do and see.

Related Post: Fun Things to Do on Your Next Sheboygan Adventure

Lake Country – Western Waukesha County

Lake Country is a simply gorgeous area of Wisconsin. Located west of Milwaukee in Waukesha County, the area has hiking and biking trails, golf courses, wineries, breweries, and many lakes. It’s a great place to get away for the weekend if you love the outdoors.

There are plenty of trails to explore in Lake Country, including nearby Lapham Peak State Forest for hiking. Or plenty of biking trails for those who like to adventure on two wheels.  

And a visit to Lake Country wouldn’t be complete without some time spent on the water. You can rent pontoons, kayaks, or paddle boards or bring your own to explore the many lakes of Lake Country. 

For indoor entertainment, try the Lake Country Playhouse . This theater hosts a variety of shows throughout the year, so there’s sure to be something that interests you.

Where to Stay: The Delafield Hotel or an Airbnb on a lake

The Delafield Hotel is an upscale hotel located on a beautiful golf course. There is a delicious restaurant on-site, and you’ll be close to all the fun in Lake Country. 

Cedarburg, WI

Cedarburg is a charming city located just north of Milwaukee, full of boutique shops, art galleries, and bakeries. If you love shopping, you’ll be in heaven in Cedarburg.

And if you love biking, you can take the Interurban Trail from Cedarburg to Port Washington and beyond. 

Cedarburg is also home to several festivals throughout the year. The most popular is the Strawberry Festival , which takes place in the summer. Other festivals include the Wine and Harvest Festival, the Winter Festival, and the Cedarburg ArtFair.

Each of these festivals has its own special charm. For example, the Wine and Harvest Festival features a grape stomping competition, while the Strawberry Festival has a strawberry shortcake eating contest.

Where to Stay: Washington House Inn

The Washington House Inn is a historic bed and breakfast. This beautiful inn has welcomed travelers since the mid-1800s, and its antique furnishings and cozy fireplaces make it the perfect place to stay for a romantic weekend getaway.

Lake Geneva, WI

Lake Geneva is a beautiful city located in southeastern Wisconsin. It’s a popular destination for both tourists and locals alike. The city is situated on the shores of Lake Geneva, and there are plenty of things to do in the area, including swimming, boating, fishing, and hiking.

The downtown area is full of shops and restaurants. There is also a Thursday farmer’s market . 

Check out the Geneva Lake Museum if you want something to do on a rainy day. This museum features exhibits on the history of the lake and the city.

Where to Stay: The Lazy Cloud Inn

The Lazy Cloud Inn is the perfect place to stay for a romantic weekend getaway. The rooms are comfortable and spacious, and the staff is warm and welcoming. The breakfast is delicious, and you can enjoy it in your room if you prefer.

Kohler is a small village located in southeastern Wisconsin. It’s home to many art galleries, shops, and restaurants. And, of course, it’s also home to the Kohler Company, known for its high-quality plumbing fixtures.

If you want to do something, head to the Kohler Design Center . This center features exhibits on the history of the Kohler Company, as well as various interactive displays. You can also tour the factory, which is a great way to see how the fixtures are made.

Where to Stay: The American Club Resort

The American Club Resort is a luxury hotel located in Kohler. Rooms are spacious and well-appointed, with the staff attentive and professional. The resort also features an indoor pool, spa, and fitness center. If you’re looking for a relaxing weekend of pampering, this is your weekend getaway. 

Weekend Getaways from Milwaukee: 2 Hours or Less

Map of Wisconsin with driving distance of 2 hours or less highlighted from Milwaukee

Chicago, IL

Chicago is probably one of the most famous and popular destinations for weekend trips from Milwaukee. After all, it is the third-largest city in the United States. There is so much to see and do in Chicago that you could easily spend a week and not get bored. Plus, you can take the Amtrak train there directly from the Milwaukee station, making it super easy to get there.

Some must-see attractions in Chicago include Millennium Park, The Art Institute of Chicago, The Field Museum, and Shedd Aquarium. And that’s just scratching the surface. If you’re a fan of shopping, you’ll be happy to know that Chicago is home to various shops, from high-end boutiques to discount stores.

Where to Stay: The Palmer House Hilton

The Palmer House Hilton is a historic hotel located in the heart of downtown Chicago. This luxury hotel features an array of amenities, including an on-site spa, a fitness center, and a business center. The rooms are spacious and elegant, and the staff is attentive and professional.

Madison, WI

Madison is the capital of Wisconsin and is just a little over an hour’s drive from Milwaukee. 

This vibrant city is home to a variety of attractions, including the State Capitol , the University of Wisconsin-Madison , and the Wisconsin Historical Museum . If you’re a fan of the outdoors, you’ll be happy to know that Madison is situated on an isthmus between two lakes, so there are plenty of swimming, hiking, and boating opportunities.

Madison is also a great place to eat, as it is home to various restaurants, from casual cafes to fine dining establishments. The UW-Madison Union Terrace is a must-do to enjoy beautiful Lake Mendota while eating an ice cream cone or enjoying a drink. 

Where to Stay: The Edgewater

The Edgewater is a hotel located on the shores of Lake Mendota in downtown Madison. The rooms are comfortable and spacious, and the staff is friendly and helpful. The hotel also features several amenities, including an indoor pool, a fitness center, and a business center. 

Spring Green, WI

Spring Green is a small town located in south-central Wisconsin. The town is best known for being the home of Taliesin, the former estate of famed architect Frank Lloyd Wright. Today, Taliesin is a museum and tourist attraction, and it is one of the main reasons why people visit Spring Green.

In addition to Taliesin, Spring Green is also home to many other attractions, including the House on the Rock , Governor Dodge State Park , Cave of the Mounds , and the American Player’s Theatre . The town lies in the scenic Wisconsin River Valley, so there are plenty of hiking, biking, and canoeing opportunities.

The House on the Rock was designed and built by Alex Jordan, and it is known for its eclectic architecture and unusual collection of artifacts. The house is open to the public, which is one of the main reasons people visit Spring Green.

Governor Dodge State Park is home to various hiking trails, a lake, and a campground, while Cave of the Mounds is a National Natural Landmark in the town of Blue Mounds. The cave is known for its unique rock formations and abundance of fossils.

After a full day of hiking, be sure to stop by The American Player’s Theatre , a professional repertory theatre company that produces a variety of plays, from classics to contemporary works.

Where to stay: Silver Star Inn 

The Silver Star Inn is a cozy bed and breakfast on six acres of beautiful land in the driftless area. It features a variety of amenities, including a hummingbird garden. The rooms are comfortable and well-appointed, and the staff is friendly and helpful. As such, it’s the perfect place to stay if you’re looking for a relaxing weekend getaway in Spring Green.

New Glarus, WI

New Glarus is a small town located in the driftless area of southwest Wisconsin. The town is best known for its Swiss heritage and is home to several Swiss-themed attractions, including the New Glarus Brewing Company, the Swiss Alps Resort, and the Chalet Landhaus Inn. 

New Glarus is in the scenic Wisconsin River Valley, so there are plenty of hiking, biking, and canoeing opportunities. You can bike along the Sugar River State Trail or do a lazy float down the Sugar River .  

Check out nearby Paoli for more shops and activity options. 

Where to Stay: Chalet Landhaus Inn

For a culturally immersive experience, there’s no better place to stay than the Chalet Landhaus Inn. The inn is located in the heart of downtown New Glarus and features many Swiss-themed amenities, including a Swiss restaurant, a fondue parlor, and a spa. The rooms are comfortable and spacious, and the staff is friendly and helpful. 

Wisconsin Dells, WI

Wisconsin Dells is best known for its water parks, which attract visitors from all over the Midwest – and even the world! In addition to its water parks, Wisconsin Dells is also home to several other attractions, including the Timbavati Wildlife Park and the Tommy Bartlett Exploratory. 

The Timbavati Wildlife Park is home to many exotic animals, as well as a variety of educational exhibits. And the Tommy Bartlett Exploratory is a hands-on science museum perfect for kids.

But Wisconsin Dells is more than water parks and tourist attractions. The scenery around the Dells is some of the best in the state. Immerse yourself in the scenery by getting on the water. There are several options for boat tours and kayaking. And don’t miss out on taking a boat tour to Witches Gulch . 

The Wisconsin Dells area is also home to some of the best supper clubs in Wisconsin. If supper clubs are your thing, check out The Del Bar or Ishnala . 

Related Post: Wisconsin Supper Club Map: Digital Map for On-the-Go Access

Where to stay: The Wilderness Resort

The Wilderness Resort is one of the most popular resorts in Wisconsin Dells, and it’s easy to see why. The resort features a water park, an indoor water park, a golf course, and various other amenities. 

There’s a spa and a fitness center for adults. And for kids, there’s an arcade and a playground. This is the place for you if you’re looking for a resort with it all.

Related Wisconsin Posts: Wisconsin Winter Getaway Ideas to Cure the Winter Blues Best Places to View Fall Colors in Wisconsin Affordable Getaways in Wisconsin

Waupaca – Chain O Lakes

Waupaca is a small town located in central Wisconsin. The town is situated in an area known as the Chain O Lakes and is home to several parks and recreational areas. The Chain O Lakes brings people to the area and features various activities, including swimming, fishing, boating, and hiking.

The Ice Age National Scenic Trail runs through the area giving visitors ample options for hikes. 

In addition to its outdoor activities, Waupaca is also home to many shops and restaurants. The town’s main street is lined with various boutiques and cafes, and several antique shops are located downtown. The area’s favorites are Little Fat Gretchen’s , Clear Water Harbor Restaurant , and Wheelhouse for pizza.

Where to stay: The Crystal River Inn

The Crystal River Inn is a historic bed and breakfast located in the downtown area. It features a number of rooms with antique furnishings, and it offers a complimentary breakfast each morning. In addition, the inn has lovely common areas, including a library and a sitting room.

Weekend Getaways from Milwaukee – 3 Hours or Less

Map of Wisconsin with driving distance of 3 hours or less highlighted from Milwaukee

Starved Rock State Park – Utica, Illinois

Starved Rock State Park is located about 90 minutes from Milwaukee in Utica, Illinois. The park is home to several hiking trails which feature canyons and waterfalls. In addition, the park has a variety of wildlife, including eagles, falcons, and deer.

Historical tours and hikes are offered at the park, and several lodges and cabins are located within the park. Starved Rock is best known for its magnificent fall color displays in October.

Where to stay: The Starved Rock Lodge

The Lodge at Starved Rock is a historic lodge built in the 1920s. It features rooms and suites, as well as common areas, such as a library, a game room, and a dining room. The lodge also has an outdoor pool on the state park ground so that you can experience an immersive nature experience.

Indiana Dunes National Park – Chesterton, Indiana

Indiana Dunes National Park is located about two hours from Milwaukee in Chesterton, Indiana. The park is home to 15 miles of beaches along Lake Michigan, as well as a variety of hiking trails. In addition, the park has several sand dunes, which are perfect for hiking and exploring.

The park also offers a variety of ranger-led programs, including hikes, Junior Ranger programs, and nature walks. In addition, the park has lodges and cabins located within its boundaries.

Where to stay: At Home in the Woods

At Home in the Woods is a cozy bed and breakfast located just outside the national park. It offers a variety of rooms and common areas, such as a living room and a dining room. The bed and breakfast also has an outdoor pool and hot tub, so you can relax after a long day exploring the park.

Sturgeon Bay, WI

Sturgeon Bay is a small town located in northeastern Wisconsin. The town on the western shores of Lake Michigan is home to several parks and recreational areas. 

Its location at the beginning of the Door County Peninsula makes it an excellent option for those wanting a Door County experience without having to drive all the way up the peninsula. 

There are many great options for things to do , such as the Door County Winery and Distillery. It is also home to one of the most scenic parks in Wisconsin, Cave Point County Park .

The Door County Maritime Museum is the most popular spot in town. It features a variety of exhibits, including a shipwreck exhibit and a lighthouse exhibit.

Where to Stay: Glidden Lodge Beach Resort

Glidden Lodge Beach Resort is a perfect place to call home while exploring Sturgeon Bay. With its location directly on Lake Michigan, it’s one of the most picturesque places. 

It features a variety of rooms and suites. And it has amenities such as an indoor pool, a game room, and a dining room. The lodge also has a private beach to enjoy the lakefront views.

And the Glidden Lodge Restaurant is not to be missed. It has a gorgeous view of the lake and is one of the best supper clubs in Wisconsin . 

Related Post: Things to Do in Sturgeon Bay

Sparta, WI, is a bikers paradise. It’s known as the “Bikers Capital of America” because one of the first rail-to-trails bike paths is located between Elroy and Sparta. 

The Elroy-Sparta Trail is one of the most popular trails in the country. It’s a 32.5-mile trail with three rock tunnels to pass through and connects five towns. 

If you like biking, this is the weekend getaway for you. 

Where to Stay: Justin Trails Resort

Justin Trails Resort is located in the small town of Sparta, Wisconsin. The resort is on 200 acres of wooded land and offers various activities, such as hiking, biking, and cross-country skiing. In addition, the resort has an indoor pool, a game room, and a dining room.

Justin Trails is the perfect spot for an all-in-one experience where you won’t feel the need to leave the resort.

Finally, we come to Galena, IL. Galena is located about three hours from Milwaukee in northwestern Illinois. It’s a historic town situated in a beautiful setting with rolling hills and picturesque views.

The downtown streets are lined with shops and restaurants. There are also a variety of historic buildings, such as the Ulysses S. Grant Home . 

Where to Stay: The Aldrich Guest House

The Aldrich Guest House is a bed and breakfast located in downtown Galena. The house was built in 1857 and has been updated and modernized to provide all the amenities and comforts of home.

The rooms at the Aldrich are furnished with antiques, each with its unique charm. The guest house is within walking distance of shops and restaurants and all of Galena’s historic sites.

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  • Last Updated On
  • June 24, 2023

30 Best Weekend Getaways From Milwaukee — Quick Trips!

Lena Linh

Milwaukee’s prime location gives you access to several top attractions you can visit during your weekend trip.

Nestled by Lake Michigan, the city stands a few hours away from picturesque parks.

It’s also located near historic places that will pique your curiosity about the past.

Some urban hubs are also within your reach when you’re in the largest city of Wisconsin.

Not sure where the best weekend getaways from Milwaukee are?

Create a memorable adventure by taking note of the travel hacks we’ve enumerated below.

Madison

Madison, WI 53703

As the state capital, Madison offers a historic charm that will enthrall every traveler.

Drive for one hour and 20 minutes to the west of Milwaukee to reach this place.

At Madison, you can spend your weekend in outdoor parks nestled by the lakes.

Many people go to James Madison Park for an overlooking view of Lake Mendota.

From there, you can walk to various museums, galleries, and shops worthy of your visit.

Artists can’t miss the Madison Museum of Contemporary Art, which features excellent exhibits.

After that, drop by the Dane County Farmers’ Market to buy fresh produce.

Don’t forget to catch the sunset by the lake to capture great photos during your visit.

2. Appleton

Appleton

Appleton, WI 54911 (920) 832-6173

Incorporated in 1857, Appleton sits at the heart of Fox River Valley.

It takes approximately one hour and 40 minutes to reach this place from Milwaukee.

Bring a mountain bicycle if you want to traverse the local trails more easily.

Follow the Old Stone Bridge Trail for an easy route even beginners can try.

Alternatively, you may hike with your dog to kickstart your day on a refreshing note.

If you get hungry, make your way back to the city center to explore eclectic eateries.

Take your chance to attend special festivals like the Fox Valley Vintage Fest.

That way, you can meet local artisans that can introduce you to the local culture more deeply.

3. Aztalan State Park

Aztalan State Park

N6200 County Rd Q Jefferson, WI 53549 (608) 873-9695

Aztalan State Park can be perfect for adventurers in Wisconsin.

From Milwaukee, you need to drive for roughly an hour to get to this park.

It’s also a historic landmark—an old site of ancient civilization in Mississippi.

Up to now, tourists can see the centuries-old mounds in this significant area.

Walk on the two-mile flat trail to see this mesmerizing sight at the heart of the place.

After that, you may have a picnic for a memorable bonding experience with your group.

Try fishing on Craw Fish River as long as you have the necessary license for this activity.

Also, get a vehicle admission sticker ahead of time to enter the park with no hassle.

Recommended Hotel: Comfort Suites Johnson Creek Conference

Chicago

Chicago, IL 60602 (312) 744-5000

On the lookout for last minute weekend getaways from Milwaukee?

No need to look far because Chicago is only around one hour and 30 minutes away.

It features towering skyscrapers that will stimulate the interest of architecture lovers.

Visit the 360 Chicago Observation Deck to see these buildings from a bird’s eye view.

Afterward, you can head to Millennium Park for a breathable art-filled space.

Artists can further satisfy their souls through the Art Institute of Chicago at the center.

Maximize your weekend adventure by catching performances at Broadway in Chicago.

Don’t worry because there are many restaurants you can visit before the show.

Recommended Hotel: Trump International Hotel & Tower Chicago

Related: Best Weekend Getaways From Chicago

5. Door County

Door County

Door County, WI (920) 743-5511

A lakeside community, Door County sets the stage for a soothing escape in Wisconsin.

Leave Milwaukee early in the morning to reach this county within two hours and 30 minutes.

Book your spot in any of the upscale hubs for a much-needed rest during your weekend trip.

Head to the Cave Point County Park to indulge yourself in vibrant views of Lake Michigan.

Spend at least three hours in this place so you can go swimming, climbing, or kayaking.

Include the Open Door Bird Sanctuary in your itinerary to fuel your love for bird watching.

After your adventure, cap off your day with a delicious dinner at the seafood eateries around.

No wonder why many consider this county when planning Milwaukee area weekend getaways.

Recommended Hotel: Gordon Lodge

Related: Hotels in Milwaukee

6. Fond du Lac

Fond du Lac

Fond du Lac, WI 54935 (920) 322-3400

Set by Lake Winnebago, Fond du Lac offers recreational opportunities for everyone.

Begin your weekend exploration by taking an hour-long drive from Milwaukee.

Spend some time with your family in Lakeside Park, where you can ride boats.

If you need more thrill, visit the Fondy Aqua Park, known for its inflatable slides.

Tourists also come to this place to experience how fun fishing on the pond can be.

Those who need a more laid-back visit can stay cozy at the beachside area.

Don’t forget to explore the city center to see the Thelma Sadoff Center for the Arts.

It’s also perfect to drop by the Fond du Lac Public Library to foster your love for reading.

With all these, this place is one of the inexpensive weekend getaways near Milwaukee.

Recommended Hotel: Hotel Retlaw, Trademark Collection by Wyndham

7. Fort Atkinson

Fort Atkinson

Fort Atkinson, WI 53538 (920) 897-9901

Fort Atkinson may be small, but this can provide guests with so much excitement.

To experience these, embark on a one-hour road adventure from Milwaukee.

Immerse yourself in the local community by going to the Busy Barns Adventure Farm.

It lets children have hands-on experience interacting with baby animals.

Llamas, alpacas, sheep, and goats are just some of the creatures they can meet here.

Additionally, the young ones can enjoy a hayride with admission to this place.

Take lots of pictures so they can look back on the fun experience they had on the farm.

Afterward, proceed to the Rose Lake State Natural Area if you still have more energy.

That’s where you can have nature trips and picnics with the family.

Recommended Hotel: Country Inn & Suites by Radisson, Ft. Atkinson, WI

Galena

Galena, IL 61036 (815) 777-1050

Founded in 1826, Galena catches the interest of guests through its historic character.

Tourists from Milwaukee need a three-hour drive to reach this small town in Illinois.

As you arrive, this place will fascinate you through its old buildings from the 19th century.

Begin your walking tour at the house of Ulysses S. Grant, built in 1859.

Several other mansions, markers, and historical sites are located a few blocks away.

Before the sun sets, walk along the Galena River Trail for a calming adventure.

Finish your day by having dinner at luxurious restaurants or wineries in the downtown area.

Pay a visit to the top-rated steakhouses to tease your taste buds with fantastic food.

Recommended Hotel: Country Inn & Suites by Radisson, Galena, IL

9. Green Bay

green bay

Green Bay, WI 54301 (920) 448-3000

Green Bay can be one of the places to go for a weekend trip near you.

It only takes less than two hours to reach this city from the Milwaukee area.

Sports fans know this place for serving as home to the Green Bay Packers.

Take the opportunity to watch them live at Lambeau Field if they have matches.

Apart from that, this city hosts many specialty museums that will entice you.

Check out the National Railroad Museum if you want to learn more about trains.

Nature lovers must not forget the Bay Beach Wildlife Sanctuary to see animals, too.

Of course, you can’t leave without going to the breweries to sip some cold beverages.

Recommended Hotel: Hyatt Regency Green Bay

Related: Fun Weekend Trips in Wisconsin

10. Elkhart Lake

Elkhart Lake

Elkhart Lake, WI 53020 (877) 355-4278

If you have limited time, Elkhart Lake can be a perfect place to explore near Milwaukee.

Tourists only need to spend one hour on the road to get to this lakeside village.

Most people have been coming to this place to watch thrilling car races for decades.

Those traveling with the clan can also access family-friendly places in the area.

In particular, many people visit Fireman’s Park to bask under the sun or play all day long.

Bring your own blanket or beach chair to be highly comfortable during your visit.

Before leaving, pass by the Farmer’s Market in Village Square Park, too.

It’s where you can purchase vegetables, flowers, and artisan goods in Elkhart Lake.

Recommended Hotel: Baymont by Wyndham Plymouth

11. Harrington Beach State Park

Harrington Beach State Park

531 Co Rd D Belgium, WI 53004 (262) 285-3015

Spanning 715 acres, Harrington Beach State Park is a must-visit place along Lake Michigan.

Traveling from Milwaukee to this recreational area takes only about 40 minutes by car.

It offers several camping areas where you can have a cool overnight trip.

Just reserve your slot ahead of time so you can set up your tent as soon as you arrive.

Those with recreational vehicles can also spend the night in dedicated park areas.

Wake up early the following day to embark on a fun hiking experience with your buddies.

Boating, kayaking, and canoeing are some of the water activities you can also try here.

Try birdwatching to appreciate the wildlife that thrives in the park.

Recommended Hotel: The Harborview, Ascend Hotel Collection

12. Kenosha

Kenosha

Kenosha, WI 53140 (262) 653-4000

Kenosha hosts several museums you can check out for your weekend adventure.

If you’re from Milwaukee, you need to drive for roughly an hour to reach this place.

No visit to this city can be complete without going to the Kenosha Public Museum.

Since 1933, this local museum has been featuring exhibits on arts and natural science.

It’s situated near the Civil War Museum you can visit to remember the veterans.

After your museum tour, attend the live events in HarborPark, if there are any.

Some musicians stage a live musical performance in this place to serenade you.

Make the most of your Milwaukee weekend getaways by going to Simons Island.

Beach lovers won’t be disappointed with the stunning sights waiting in this place.

Recommended Hotel: Hampton Inn & Suites Kenosha

Kohler

Kohler, WI 53044 (920) 459-3873

Kohler is best known as the manufacturing company founded in the area in 1873.

But there’s so much more to see in this village located an hour away from Milwaukee.

Set in Sheboygan County, this place hosts top-tier hotels, spas, and restaurants.

Travelers seeking a quaint weekend escape can stay at the five-star American Club.

It’s within a three-minute walk from the Kohler Design Center, hosting lots of fixtures.

Head over to the Woodlake to have the most sumptuous meal nearby.

Spend your afternoon at the Blackwolf Run Golf Course for a leisure activity with friends.

Alternatively, you may go to Lost Woods Park if you want to ride a bike on the paved trails.

Recommended Hotel: Holiday Inn Express Sheboygan-Kohler / I-43, an IHG Hotel

14. Lake Delton

Lake Delton

Lake Delton, WI 53940

Lake Delton boasts perfect spots for your much-awaited long weekend trips from Milwaukee.

From there, you need to travel for roughly two hours to arrive at this well-known resort city.

Make yourself at home in any of the top-notch accommodation hubs set in the area.

Tourists must also visit the Noah’s Ark Waterpark for a refreshing time by Lake Delton.

It’s a 70-acre facility that hosts kid-friendly slides, wave pools, and play structures.

If you get hungry, that won’t be a problem because you can buy comfort food inside.

Kids will also appreciate Tom Foolery’s Adventure Park due to the fun rides available.

Don’t forget to have a food adventure afterward to fill your stomach with tasty food items.

Recommended Hotel: Tamarack Wisconsin Dells, a Ramada by Wyndham

15. Lake Geneva

Lake Geneva

Lake Geneva, WI 53147 (262) 248-3673

Set in Walworth County, Lake Geneva is another resort city you can visit in Wisconsin.

Open your weekend trip by hitting the road for one hour from Milwaukee to Lake Geneva.

Once you’ve arrived, you’ll be pleased by the view of the lake at the heart of the city.

Traverse the Geneva Lake Shore Path to see the historic homes around the area.

Wear hiking or running shoes to have the utmost comfort while exploring the entire path.

After that, unwind at the Lake Geneva Public Beach for a refreshing vibe.

Some hotels also have pools and hot tubs where you can take a dip after a long day.

In addition, check out the events slated in Flat Iron Park to enjoy seasonal concerts.

Recommended Hotel: Mill Creek Hotel

16. Manitowoc

Manitowoc

Manitowoc, WI 54220 (920) 686-6950

Manitowoc takes pride in serving as the maritime capital of Wisconsin.

To get here, you need to drive for one hour and 15 minutes to the north of Milwaukee.

It’s the home of the Wisconsin Maritime Museum, where you can find a vintage submarine.

With various exhibits, this place can provide you with a walkthrough of the Great Lakes.

Proceed to the Manitowoc Lincoln Park Zoo afterward if you’re with the young ones.

Kids will love seeing native animals and birds in this free-for-all facility near the coast.

If they have more energy, take them to the playground at Henry Schuette Park.

Treat them to a fulfilling meal at the renowned restaurants in Manitowoc.

It’s best to visit the locally owned eateries to taste the authentic food in this place.

Recommended Hotel: Village Inn on the Lake

17. Marshfield

marshfield

Marshfield, WI 54449 (715) 486-2000

Known as the Hub City, Marshfield can be a haven for those who want a small-town vibe.

It allows you to have cheap vacations from Milwaukee within a three-hour drive.

At Marshfield, you can explore the ever-famous Wildwood Zoo to appreciate wildlife.

Others can also go to Joe & Bernardine Weber’s Nature Park for a soothing escape.

If you’re up for it, you may engage in a walking history tour at the heart of the city.

One of the sites you can’t miss is the old house of Governor William H. Upham.

Be sure to attend the Central Wisconsin State Fair if your trip coincides with the event.

That way, you can see the World’s Largest Round Barn come alive.

Recommended Hotel: Hotel Marshfield, BW Premier Collection

18. Mukwonago

Mukwonago

Mukwonago, WI 53149 (262) 363-6420

Mukwonago can be one of your best options for a historical weekend tour.

With only a half-hour drive, this place is one of the places near Milwaukee for vacation.

It’s widely known for serving as a settlement of Native American tribes in the past centuries.

To learn about its history, list the Mukwonago Red Brick Museum at the top of your itinerary.

Visit the Miniwaukan Park next to be relaxed at the sight of expansive greenery.

Even the young ones can learn how to ride a bicycle on the paved path of the park.

If you’re with friends, you may want to have a massage at the popular spa places around.

Cap off your day by catching sunset views at Phantom Lake before heading out for dinner.

Recommended Hotel: Baymont Inn & Suites by Wyndham Mukwonago

19. Sheboygan

Sheboygan

Sheboygan, WI 53081 (920) 459-4000

No surfer will ever want to miss the activities waiting for them in Sheboygan.

If you’re one, take that hour-long drive from Milwaukee to get to this place.

It’s even popularly called the “Malibu of the Midwest” because of its excellent waves.

Proceed to Kohler-Andrae State Park to begin your fun surfing activity with friends.

Just remember to bring your surfing equipment to save up on rental costs.

At the same time, you may camp in this park for a more delightful experience.

Opt for the accessible cabin if you need complete accommodation in the park.

Set your alarm early so you can go hiking without dealing with too much heat.

Of course, you also need to explore the local restaurants to make the most of your trip.

Recommended Hotel: Harbor Winds Hotel

20. Lapham Peak State Forest

Lapham Peak State Forest

W329 N846, County Trunk Hwy C Delafield, WI 53018 (262) 646-3025

On the lookout for more getaways in Milwaukee or its nearby areas?

Dedicate half an hour on the road to reach this forest in Delafield.

At Lapham Peak, you can go hiking, camping, and picnicking with your family.

Head to the observation tower to see spectacular nature views at a high angle.

It’s easy to find this place because of its proximity to the backpacking campsite.

Beyond nature, you can also appreciate music and the arts in this forested area.

That’s because the SummerStage of Delafield also shows live performances here.

Have no worries because their shows are kid-friendly, so you can bring the young ones.

Recommended Hotel: La Quinta by Wyndham Milwaukee Delafield

21. Cedarburg

Cedarburg

Cedarburg, WI 53012 (262) 375-7600

Incorporated in 1885, Cedarburg lies in the suburbs of Milwaukee.

It only takes 30 minutes for you to travel between the two areas in Wisconsin.

That’s why those who prefer short trips from Milwaukee love Cedarburg so much.

Stepping foot into this city will expose you to architectural gems that will appease you.

History geeks also love these buildings, as some of them date back to the 19th century.

Also, deepen your interest in the past by visiting the local history museum.

In addition, you may complete your weekend adventure by joining wine tours in the city.

Cedarburg produces top-notch wine products that will easily tantalize your taste buds.

Recommended Hotel: Washington House Inn

22. Spring Green

Spring Green

Spring Green, WI 53588 (608) 588-2335

If you want a simple but fun getaway, Milwaukee offers lots of options for you.

Spring Green, located two hours away, can be an excellent place to explore.

Visit the American Players Theater to watch live performances on an open-air stage.

Those who admire the works of William Shakespeare will also have the best time here.

Besides that, tourists can include the home of Frank Lloyd Wright in their adventure.

It’s best to secure a ticket for the four-hour tour to see the entire 800-acre estate.

If you still have time, check out the House on the Rock for a fascinating attraction.

Afterward, head back to the downtown area to buy books from local bookstores.

Stay for a while in any of the coffee shops or eateries to enjoy your quiet reading time.

Recommended Hotel: Round Barn Lodge

23. New Glarus

New Glarus

New Glarus, WI 53574 (608) 527-2510

New Glarus sets itself apart as the Little Switzerland of America.

From Milwaukee, travelers need about two hours to get to this place.

Learn about the past of this area through the Swiss Historical Village Museum.

It preserves the artifacts and records of the immigrants who once lived there.

Aside from history, this place can also satisfy people who love outdoor adventures.

Proceed to the New Glarus Woods State Park, where you can go hiking or biking.

Spend the night in the dedicated campsites to level up your experience further.

Make sure not to leave any traces behind to help ensure the cleanliness of the park.

Recommended Hotel: Hyatt Place Madison/Verona

24. Wisconsin Dells

wisconsin dells

Wisconsin Dells, WI 53965 (608) 254-2012

Wisconsin Dells stands out for being the waterpark capital of the world.

To explore this city, travelers from Milwaukee need to allocate two hours on the road.

Pack your best swimming attire to be prepared for your ultimate waterpark adventure.

Check out Noah’s Ark Waterpark to see the largest outdoor waterpark in the United States.

Make your vacation more memorable by relaxing at any of the opulent hotels in the area.

Avail yourself of a special massage at the on-site spa to revitalize yourself even more.

Also, take some time to visit the Dells of the Wisconsin River State Natural Area.

Indulge in the view of a five-mile-long gorge with rock formations, cliffs, and canyons.

Recommended Hotel: Hilton Garden Inn Wisconsin Dells

Related: Places to Eat: Wisconsin Dells, WI

25. Waupaca

Waupaca

Waupaca, WI 54981 (715) 258-4411

Expand your Milwaukee vacations by adding Waupaca to your itinerary.

It will take you roughly two hours to cover the 130-mile distance between the two.

In this place, locals and tourists can spend the weekend in the recreational parks.

Many people go to South Park Beach, nestled by Shadow Lake, to feel refreshed.

Lay your blanket on the sand to stay cozy during your hours-long stay.

Aside from that, the Waupaca Falls in Riverview Park is another local favorite.

Kids will have fun seeing and hearing the water cascading through the rocks.

If you have pets, bring them to the off-leash dog park, where they can run around.

Recommended Hotel: Comfort Suites at Par 4 Resort

26. Starved Rock State Park

Starved Rock State Park

2678 E 875th Rd Oglesby, IL 61348 (815) 667-4726

At 2,630 acres, the Starved Rock State Park is a must-see natural attraction in the Midwest.

It’s located in Illinois, roughly two and a half hours away from the heart of Milwaukee.

No need to worry about the cost because visitors can enter this state park for free.

It features a 13-mile-long trail that runs parallel to the Illinois River.

Stop by the Hennepin Canyon Overlook for a scenic viewpoint to appreciate nature.

Others also love the LaSalle Canyon because of the picturesque sight waiting here.

Have at least two liters of water to make sure you stay hydrated during your hiking trip.

Feel free to extend your time outdoors by reserving your spot in the campground, too.

Recommended Hotel: Hampton Inn and Suites Peru

27. Valparaiso

Valparaiso

Valparaiso, IN 46383 (219) 462-1161

Valparaiso, the seat of Porter County, won’t run out of things to entice travelers with.

Those coming from Milwaukee need almost three hours to reach this city in Indiana.

While that’s a long drive, Valparaiso boasts lots of offerings for your weekend trip.

Many even regard this as one of the best romantic getaways from Milwaukee.

Treat your special someone to a lovely date night at the ritzy steakhouses.

Several hotels also offer a homey ambiance where you can stay comfortable.

Additionally, lovebirds cannot miss the kissing bridge at Valparaiso University.

It’s also good to stop by the Brauer Museum of Art to maximize your visit to the university.

Recommended Hotel: Country Inn & Suites by Radisson, Valparaiso, IN

28. Baraboo

Baraboo

Baraboo, WI 53913 (608) 356-5170

From museums to parks, Baraboo hosts lots of attractions perfect for weekend travel.

It’s the seat of Sauk County that’s located about two hours away from Milwaukee.

Most people come to this place to relax in Devil’s Lake State Park.

Prepare your body for long walks as you embark on a scenic trail in the area.

After that, take the time to rest at North Beach to see the glistening lake.

Complete your city tour with a stop at the renowned Circus World Museum.

If you’re lucky, you may also see live circus performances during your visit.

Don’t forget to satisfy your cravings at family-friendly restaurants, too.

It’s highly recommended to try the Little Village Café if you love the 1940s vibe.

Recommended Hotel: Clarion Hotel and Convention Center Baraboo

29. Oshkosh

Oshkosh

Oshkosh, WI 54903 (920) 236-5000

Oshkosh lies on the side of Lake Winnebago in Wisconsin.

Set in Winnebago County, this large city is about 90 minutes away from Milwaukee.

It boasts a long list of museums, gardens, and parks that the whole family can visit.

One of the most-visited sites in Oshkosh is the EAA Aviation Museum.

Let the young ones interact with hands-on exhibits to fuel their interest in aviation.

Others also love the Paine Art Center and Gardens because of its vast art collection.

As a historic estate, this place is one of the most attractive places in the city.

It’s also great to visit the Oshkosh Public Museum if you have extra time.

Recommended Hotel: Best Western Premier Waterfront Hotel & Convention Center

30. Minocqua

minocqua

Minocqua, WI 54548 (715) 356-5296

Kickstart your tour around Oneida County with a visit to Minocqua.

It’s one of the best weekend getaways from Milwaukee, four hours away.

Feel free to try various water activities such as boating, canoeing, or kayaking.

If you love fishing, you may do so at the Big Arbor Vitae Lake or the Madeline Lake.

Those seeking an adrenaline rush can also try ziplining with family and friends.

Pay a visit to the Wildwood Wildlife Park and Nature Center for another famous attraction.

Complete your adventure with a food adventure at the heart of the town.

Dine in the Minocqua Brewing Company to discover why many people love this place.

Alternatively, you may visit the Boathouse to witness lakeside views while eating.

Recommended Hotel: The Waters of Minocqua

Map of The Best Weekend Getaways From Milwaukee, WI

30 Best Weekend Trips From Milwaukee 2024

  • Aztalan State Park
  • Door County
  • Fond du Lac
  • Fort Atkinson
  • Elkhart Lake
  • Harrington Beach State Park
  • Lake Delton
  • Lake Geneva
  • Lapham Peak State Forest
  • Spring Green
  • Wisconsin Dells
  • Starved Rock State Park

30 Best Weekend Getaways From Milwaukee — Quick Trips!

She Saves She Travels

16 Best Midwest Road Trips – Scenic Routes You Can’t Miss

Posted on Published: May 25, 2020  - Last updated: February 9, 2024

Ahhh, the Midwest. Vast landscapes with beautiful scenery, the ability to connect with nature and fun attractions. One of the best ways to explore the middle of the USA is with a Midwest road trip!

midwest road trip photo of lake with tan sand trees and reflection of cloudy sky

This post may contain affiliate links. For more info, see my  disclosures .

For those of us who live here, we know there’s so much to offer. Our waving grasses with rolling hills make for beautiful, peaceful sunsets. Gorgeous lakes simply begged to be explored.

Our cities each have something unique to offer, and mix that with Midwest charm, it makes for a great place for a road trip!

Midwest road trip ideas

I’ve explored many places across the Midwest, but I haven’t covered it all. So I turned to other experts to help me out to create this list of best Midwest road trips!

Here’s a bunch of Midwest road trip ideas, ranging from 2 days to 10. From outdoorsy to artsy, there’s truly something for everyone in the Midwest!

minneapolis to omaha road trip

List of Midwestern States

But before we dive in, let’s clarify the states that cover the Midwest to help you plan your trip:

  • Indiana (IN)
  • Illinois (IL)
  • Missouri (MO)
  • Kansas (KS)
  • Nebraska (NE)
  • South Dakota (SD)
  • North Dakota (ND)
  • Minnesota (MN)
  • Wisconsin (WI)
  • Michigan (MI)

Looking for more Midwest adventures? Check out these 16 trails – the best hiking in the Midwest !

Ready to hit the road? Here’s the best Midwest road trips

Black hills, south dakota (a classic).

Roadtrip to Mount Rushmore

Recommended trip: 7-10 days

The Black Hills in South Dakota is one of the best places for a road trip in the Midwest.  There is so much to see and do, you could easily spend months here, but for a shorter trip, 7-10 days would be great.

Rapid City is probably the best place to fly in and out of for a Black Hills trip. I would start with a couple of days in Badlands National Park .  Spend the night in Wall, visit Wall Drug and the Badlands from here, then head over to Wind Cave National Park.

Spend a night or 2 in Hot Springs to easily access the park where you can do some hiking, look for bison, and do a cave tour. Make a stop at the Mammoth site while you’re here, too.

Finally, head to Keystone for a few days. This is the perfect base for exploring the Mount Rushmore and Custer State Park area. 

Some of the must-do activities here are visiting Mount Rushmore (of course), driving Iron Mountain Road , driving the Needles Highway, driving the Custer Wildlife Loop Road, hiking Cathedral Spires Trail, and relaxing at Sylvan Lake. If you want a little side trip, you can easily visit Devils Tower in Wyoming, too.  

Recommended by Megan of Red Around the World

Chicago to St. Louis road trip

Bean in Chicago

Recommended trip: 4-6 days

Driving from Chicago, Illinois to St. Louis, Missouri should be on any midwest road trip. This journey is part of Route 66, one of the original highways in the United States. Route 66 was the primary route for people wishing to move west. Opt to spend one day driving this four and a half-hour drive, or break it up and spend the night in Springfield, Illinois.  

For this journey, start in Chicago. Make sure to spend at least 3 days in Chicago. Stay in the centrally located Downtown/River North area. Do not miss the Art Institute of Chicago and the Field Museum.

Grab some pictures at “The Bean” in Millenium Park. Daredevils can opt for “The Edge” experience at the Skydeck or the Tilt Experience at the John Hancock Building. 

In the morning depart Chicago to drive south towards Springfield, the capital of Illinois . Stop by the capitol building and take a free tour of the building.

Visit Abraham Lincoln’s grave at Oak Ridge Cemetery and then visit the Abraham Lincoln Presidential Library and Museum. Grab a custard at Krekel’s before heading onward to St. Louis, Missouri. 

Plan to spend at least 2 days in St. Louis to explore the main sites. Plan to stay in the Downtown area. Ride to the top of the St. Louis Arch at Gateway Arch National Park.

Take a peek into history at the Old Courthouse, where the Dread Scott decision was made. Make sure to eat some delicious BBQ before departing St. Louis.

Recommended by Francesca of Home Room Travel

You might also like: 101 Road Trip Food Ideas: Best Fun and Healthy Snacks You’ll Love

Indianapolis, IN to Boyne City, MI

skiing on Boyne Mountain

Recommended trip: 2-3 days

Ready for a fantastic Midwest road trip? Regardless of the time of year, driving from Indianapolis, Indiana to Boyne City, MI is a perfect way to enjoy a long weekend.

Day one, you’ll want to get up early and head to Lansing, MI. It’s about 3.5 hours from Indy, so if you time it right, be sure to stop for lunch at Soup Spoon Cafe – a flight of soup is a fun way to start your mini-vacation. Next, if you have younger kids, head over to the Impression 5 Science Center – they’ll love the full sensory experiences. 

After the museum, finish your drive north and check-in at Boyne Mountain for the night. Enjoy a full day of exploring Boyne Mountain and nearby Boyne City the next day. If it’s winter, hit the slopes for a little skiing or even tubing.

If it’s summertime, enjoy hiking, ziplining, or swimming. Downtown Boyne City is situated right on Lake Charlevoix and the town is full of delicious restaurants such as Cafe Sante and Red Mesa as well as unique local boutiques.

Leave Boyne Mountain, and head over to Petoskey for your final day. Start it off right with amazing bagels and donuts at Johann’s Bakery and then hurry over to the main Kilwins location for a factory tour. Kilwin’s offers free tours Monday – Friday every half-hour from 10 – 4:30, and each one ends with a decadent chocolate treat.

After the tour, spend a little time poking around downtown Petoskey for lunch and to pick up a few Michigan souvenirs before heading back to Indianapolis.

Recommended by Pam of Our Adventure is Everywhere

You might also like: Road Trip with Kids: 15 Essentials to Pack

Central Iowa road trip

Iowa state capitol building

We highly recommend taking a road trip through Central Iowa. You’ll pass through  Des Moines , Iowa’s capital and other smaller towns that have some fun and interesting attractions.

Heading east along I-80, your first stop should be the town of Winterset. It’s famous for having the  actual  bridges of Madison County. Six of the original 19 covered bridges in Madison County have been preserved just outside of town. Winterset is also the birthplace of John Wayne. There is a museum dedicated to him, with lots of personal and movie memorabilia.

Continuing east, you reach Des Moines. We love this artsy city! It’s easy to find street art there and downtown has a 4.4-acre sculpture park that is free to the public. There’s also a really lovely botanical garden in Des Moines.

Of course, visiting the Capitol Building is a must. You can do a free self-guided tour and marvel at the building’s incredible architecture.

The next stop on your road trip should be the town of Grinnell. Home to Grinnell College, they have a small but impressive art museum on campus.

Grinnell is also the home of one of eight “jewel-box” banks built by legendary architect Louis Sullivan. He is considered the father of modern American architecture and mentored Frank Lloyd Wright. The bank is beautiful, with large stained-glass windows and pink Tennessee marble floors.

Recommended by Vicky of Buddy The Traveling Monkey

More road trip destinations in the Midwest

St. louis to kansas city.

St Louis arch

Recommended trip: 3-5 days

While many people think of Missouri as a fly-over state, it’s full of not-to-be-missed gems, from St. Louis to Kansas City. So why not see some of them in one fell swoop with a 5-day road trip?

Start in St. Louis, a city bursting with historic architecture and a thriving food and cocktail scene. Spend 2 days here, exploring the City Museum, an adult playground/art installation of interactive salvaged architectural objects. Visit Forest Park, one of the country’s largest urban parks and its world-class museums, all boasting free admission. And, of course, the Missouri Botanical Gardens, consistently ranked one of the best in the nation.

At night, eat your way through the exploding culinary landscape, with one of the many restaurants helmed by James Beard nominated chefs, like Vicia or Lona’s Lil’ Eats.

Once you’ve gotten your fill, drive west to Hermann, a tiny town that has several wineries, breweries, and distilleries nestled in its idyllic grassy hills. For just $20, the Hermann Trolley will shuttle you between these establishments all day, so you can responsibly imbibe in as many craft beverages as you please.

After a day here, finish your trip with 2 days in Kansas City, famous for its jazz scene. To get a taste of it yourself, head to the American Jazz Museum during the day and the Green Lady Lounge at night to see some of the world’s best musicians in action. By the end of the trip, you’ll be ecstatic to have discovered some of the Show Me State’s abundant treasures! 

Recommended by Jessica of Uprooted Traveler

Oh, and if you’re planning to rent a car for one of these Midwest road trip routes, be sure to check out the cheap rates on Discover Cars . I usually save 10-30%, which can really add up! Discover Cars searches the top carriers to find the best deal, at no extra cost to you. It’s a win-win! Search cheap rental cars now .

Milwaukee to Wisconsin Dells

Wisconsin Dells

One of the best Midwest road trips you can take is exploring the highlights of Wisconsin. The ideal road trip itinerary takes you from Milwaukee to Green Bay and ends in Wisconsin Dells.

Start your road trip in Milwaukee , but you can’t leave without spending at least 2 days in this vibrant city. As a matter of fact, people flood from all over the United States to visit Milwaukee for its food, attractions and history.

Must do’s are the Harley Davidson Museum and the historic Third Ward.  Stay in the iconic Pfister Hotel in downtown.

From here you finally head out to the beautiful North of Wisconsin. Along the Michigan river you’ll cross scenic towns such as Port Washington. When you arrive in Green Bay, get ready to explore this vibrant town located in Door County. 

Some of the best things to do here are visiting the Heritage Hill State Park and watch a game by the legendary Green Bay Packers. Plan at least 1 day to visit the city and all the best things to do in Door County .

From Green Bay you’ll drive to Wisconsin Dells which is famous for its waterparks. However, there is so much more to do here. From shopping to hiking in the Dells or staying overnight in one of the  most romantic cabins in Wisconsin , there will be plenty of options to spend at least 2 days in Wisconsin Dells.

Recommended by Paulina of Paulina on the Road

Southern Minnesota road trip

Southern Minnesota - Fairmont

Eat, relax and have fun in Southern Minnesota! Enjoy a food lovers paradise in Austin, Minnesota. Known for having some of the best Mexican food in the state of Minnesota, Austin is also known for award-winning BBQ sauces, french onion soup and stuffed raspberry french toast.

Want to have a food challenge, then be sure to stop by the Tendermaid. Also, don’t forget to visit the one and only SPAM Museum ! Yes – it’s real and there are nearly 20 restaurants with SPAM on the menu.

Then sit back, relax and enjoy the view in Fairmont, Minnesota . Home to a chain of 5 lakes and 29 parks in city limits, Fairmont provides you that opportunity to become one with nature. Explore lakeside dining, outdoor recreation and an arts and culture scene that is sure to impress .

Next discover how  Germans Have More Fun  in New Ulm! Enjoy a road trip through the MN River Valley National Scenic Byway to the most German city in America.

In New Ulm you can climb 102’ to the top of the ‘Herman the German’ monument. Enjoy a tour/tasting at Schell’s Brewery, MN’s oldest brewery. Shop the unique boutiques in the historic downtown. Hear bells chime at our Glockenspiel. See the 1873 murals in the rathskeller at Turner Hall. 

With so much to do in Southern Minnesota, there’s something for everyone!

Read next: How to Save Money for Travel: Your Vacation Savings Plan

Richmond, IN to Butler County, OH

Lake Erie Islands - aerial view

If you’re looking for a cool trip, head to Indiana and Ohio! Starting off in Richmond, Indiana, visit the Wayne County Historical Museum and the Levi Coffin House. Be sure to hear their amazing story of the Underground Railroad!

Stay at the Starr Loft in Richmond before heading to Ohio. On your way to Ohio’s Lake Erie Islands, take a diversion into Bremen at the Bicycle Museum of America. Then onto the Marblehead Lighthouse in Marblehead, Ohio where this historic lighthouse guided sailors safely since 1822.

That night stay at Port Clinton’s Fairfield Inn & Suites. The next morning, head over to Ohio’s Lake Erie Islands. Take Miller Boat Line’s Ferry to Put-in-Bay where you can ferry your car over to the island.

Visit Perry’s Peace Memorial which honors the War of 1812. Check out the view up the 352-foot tower! The memorial honors those who fought in the Battle of Lake Erie. The next day, on Kellys Island, take a tour in a golf cart to check out natural phenomenons like the Glacial Grooves.

Be sure to hang out for an afternoon in Downtown Sandusky, Ohio . Take a Segway tour, visit Cedar Point Amusement Park, visit the Merry-Go-Round Museum or go parasailing.

Last stop on this road trip is Butler County, Ohio! Enjoy the Donut Trail and tour outdoor art at the Pyramid Hill Sculpture Park.

Recommended by Cindy of Traveling Adventures of a Farm Girl

Related read: Best Midwest Camping Spots

Loess Hills Scenic Byway (Missouri to Iowa)

Loess Hills road trip overlook

The Loess Hills Scenic Byway takes its travelers through the most extensive loess (essentially, ancient wind-blown silt deposits) outside a remote region of China! While the byway officially starts at the Iowa state border, the hills themselves run north-south a bit east of the Missouri River, from St. Joseph, Missouri to the Sioux City, Iowa area, passing near Omaha, Nebraska in the middle of the journey.

Each of these cities are destinations in their own right, and combined, they make a road trip full of scenic views and ample entertaining places to stop along the way.  

In St. Joe, Missouri, local museums provide fascinating looks at the history of the Pony Express, the art of Thomas Hart Benton (often depicting loess hills!) and the life of the nefarious Jesse James. Near Mound City, Missouri, visit the Loess Bluffs National Wildlife Refuge to see waterfowl and bald eagles.

The Hitchcock Nature Center near Omaha and the Dorothy Pecaut Nature Center in Sioux City provide more information about the unique geology, flora, and fauna of the Loess Hills along with opportunities for hiking, boating, and more!

For ideal cruising food, try Billy Boy Drive-through just a few miles from the Dorothy Pecaut Nature Center in Soiux City for a burger and a shake! 

Recommended by Lindsay of Siouxland Families

More ideas: Midwest road trips

Minneapolis to omaha.

midwest road trip ideas

Recommended trip: 4-5 days

Get a nice mix of cities and wide open spaces on a Midwest road trip from Minneapolis to Omaha. Starting in Minneapolis, you’ll want to spend 1-2 days visiting the lakes, restaurants and of course, checking out the Mall of America .

Visit the Minneapolis Sculpture Garden in downtown and grab an ice cream cone at Izzy’s Ice Cream . The largest mall in North America (Mall of America) is a whole lot more than shopping, too. With an indoor amusement park, it’s the perfect activity for any weather.

Then hit the road! Next stop: Northwestern Iowa. Stop in Estherville, Iowa for a rustic winery , experience an 80-year old swinging bridge or to visit the site of the largest known meteorite seen crashing into North America.

You could stay in Esterville for the night, or head about half an hour west to Lake Okoboji. In Okoboji, Iowa you’ll find shopping, dining and a bunch of water activities , of course! Try the Arnold’s Park Amusement Park or live music after a day on the water.

Next on this Midwest road trip is Sioux City, Iowa. Grab lunch or dinner at the Fourth Street Historic District in downtown Sioux City , catch a show at the Orpheum Theatre or visit Palmer’s Old Tyme Candy Shoppe for a sweet treat before leaving town.

Omaha, Nebraska is the final destination on this Midwest road trip itinerary. You’ll want to spend 1-2 days visiting this fun city. Omaha is known as the silicone prarie, a tech hub that’s family-friendly, yet trendy enough to support a vibrant art scene and plenty of outdoor space.

One of the best things to do in Omaha is to visit the Omaha Henry Doorly Zoo and Aquarium , It’s the largest tourist attraction in the state, and regularly competes with the San Diego Zoo as the #1 zoo in the country! It really is that fantastic!

Check out North America’s largest indoor rain forest, feed the giraffes, walk under sharks in the aquarium and watch the animals in the world’s largest indoor desert dome. Tip: be sure to buy your tickets in advance online and arrive early to avoid the crowds as best as you can.

Get a good tour of the city while taking fun photos at the most Instagrammable places in Omaha . Spend some time wandering the Lauritzen Gardens or check out the Fun-Plex Waterpark.

For some mystery check out the Joslyn Castle , and for some history visit the Lewis and Clark Landing. The Old Market in downtown is the perfect spot to grab a bite to eat after a long day touring the city.

Recommended by me! Nikki of She Saves She Travels

Duluth to Grand Marais, Minnesota

lake superior road trip

Recommended trip: 1-2 days

A Minnesota road trip on Highway 61 between Duluth and Grand Marais will offer you amazing views of Lake Superior, numerous options for a delicious bite to eat, and some can’t miss attractions .

As you leave Duluth, choose the 24-mile scenic route to Two Harbors, and take in the view of Lake Superior along the way. In Two Harbors you can walk along the breakwater to the lighthouse, and watch the ore ships coming and going. Enjoy a local brew at Castle Danger Brewery after doing some shopping in Agate Bay.

Just north of Two Harbors is Betty’s Pies and you don’t want to miss stopping here ! This is a full service restaurant, but they also have a walk up counter where you can order their famous pie. The pie flavors change every day, but you definitely want to try the Great Lakes Fruit Pie . This pie is filled with blueberries, strawberries, raspberries, apples, and rhubarb and it is one of a kind.

It is 11 miles to the next stop, in Castle Danger, but get your camera ready because you’ll be driving through 2 large tunnels, and the exits of both perfectly frame Lake Superior. 

Castle Danger is home to Gooseberry Falls and Split Rock Lighthouse State Parks. You can learn a little history of the area while touring the lighthouse and take a hike down the hillside to dip your toes in the cool Lake Superior water.

Gooseberry Falls State Park has 5 waterfalls that you can hike to, and a very nice visitor center to buy some souvenirs at.

Along the remaining 72 miles to Grand Marais, take the time to stop at a beach or two to hunt for agates. The beaches along the North Shore are loaded with agates and it’s fun to find a few to bring home.  

The city of Grand Marais has a main street full of local shops that ends on the shore of Lake Superior.  The beach is a popular spot to watch the water, and to eat a delicious donut from World’s Best Donuts or maybe you’ll want a slice of thin crust pizza from Sven and Ole’s.  

Grand Marais is also the start of the Gunflint Trail. This is a 57-mile paved roadway that ends in the Boundary Waters Canoe Area near the border of Ontario.

This 110 mile road trip between Duluth and Grand Marais can be made in one day, but why not take your time and really discover the beauty of Lake Superior and the North Shore.

Recommended by Vicki of That Was a First

I-70 Kansas road trip: Abilene to Kansas City

Brown V Board of Education National Historic Site

Recommended trip: 2-4 days

Enjoy a wealth of historic, cultural, and recreational activities along Interstate 70 in northern Kansas. Start in Abilene, Kansas with visiting the Eisenhower Presidential Library, Museum, and Boyhood Home. Head over to pet Ginger, the greeter at the Greyhound Hall of Fame. Enjoy award-winning fried chicken at the Brookville Hotel.

Next stop along I-70 in Kansas is Junction City, home to Milford Lake and the Fishing Capital of Kansas. Tour Fort Riley’s museums, but prepare for security. Eat Munson-raised, dry-aged beef at Munson’s Prime restaurant, a local favorite. A perfect spot to call it a night is by the lake at Acorns Resort.

Then you’ll hit Manhattan, Kansas. For high adventure, fly zip lines at Wildwood Adventure Park. Afterwards, relax and eat and drink at Liquid Art Winery & Estate!

Slide into Topeka, Kansas where you can dive into history and visit the state capitol and the national historic site where the Supreme Court reversed segregation in Brown v. Board of Education of Topeka . A great way to end the day is with elegance at the Cyrus Hotel.

As you head east on I-70, you’ll get to Lecompton, Kansas. Learn more about where slavery began to die at Constitution Hall State Historic Site and the Territorial Capitol. Then lighten things back up by grabbing a slice of gourmet pie at Aunt Netter’s Cafe. Delicious!

Next up is Lawrence, Kansas and downtown is the place to be! Experience downtown Lawrence during the day or night. See basketball’s original rules at The Cradle of Basketball. And if you’re looking for a brewery, Free State Brewing Co. is Kansas’ first post-prohibition brewery. Stay at in the heart of Lawrence at The Oread.

The final stop on this Northern Kansas road trip before arriving at Kansas City is Leavenworth, Kansas. Visit Fort Leavenworth, or ride antique carousels at C.W. Parker Carousel Museum. A must-try in Leavenworth is the steak house tenderloin at Metropolitan Steakhouse.

Wrapping up the I-70 Kansas road trip is of course, Kansas City! Enjoy the major leagues: sporting Kansas City at Children’s Mercy Park and NASCAR at Kansas Speedway. Eat top-notch barbecue at SLAP’s BBQ. After a great road trip in Kansas, stay in the Chateau Avalon.    

Recommended by Roxie of Roxie on the Road

Midwest road trip: Missouri Route 66

Missouri Route 66 road trip

While most people think of a  Route 66  Road Trip as starting in Chicago and ending in Santa Monica, you don’t need to take two weeks and traverse half the country to get in a taste of the Mother Road. Instead, you can pick a portion and explore it in-depth.

Missouri has a great stretch of Route 66 right here in the Midwest. It starts in the northeast crossing over from Illinois into St. Louis and ends at the Oklahoma border after passing through Joplin.

Obviously the most iconic site on Missouri’s portion of Route 66 is the Gateway Arch, which practically welcomes you onto the road. Make sure to tour Meramec Caverns , see the one-room jail in Cuba, and explore the interesting history of Carthage. 

Take advantage of the fun roadside kitsch of the route and get out at as many stops as you can. A real Route 66 road trip means you need to spend a few nights in the state’s retro motels and enjoy some diners and dive bars.

Recommended by Stephanie of Oklahoma Wonders

Driftless Area Scenic Byway (Iowa)

Driftless scenic byway and visitor center

Recommended trip: 1-3 days

Allamakee County is the home to the most scenic byway in the state of Iowa, Driftless Area Scenic Byway. This beautiful scenic byway zigzags its way on hard-surfaced and gravel roads through the high relief, pre-glacial landscape in extreme northeastern Iowa in Allamakee County. 

This byway has been voted most scenic byway in the state of Iowa . It’s 100 miles of amazing! Along the Driftless Area Scenic Byway you will find…

Effigy Mounds National Monument , the 2,526-acre park by the Yellow River has walking trails with modest to extended routes, allowing you to select your route and view a variety of mounds. An accessible boardwalk trail into the wetlands near the visitor center is available for persons of all walking abilities.

Yellow River State Forest was first acquired as a state forest in 1935, the Yellow River State Forest has grown to encompass nearly 9,000 acres of natural beauty.

Great River Road , where you can enjoy 36.2 miles of the Great River Road in Allamakee County. You will discover the best of the Great River Road right here!

Driftless Area Education & Visitor Center , where you’ll see live animals, interpretative displays, 2 viewing decks of the Mississippi River, and a great group educational experience.  Located just south of Lansing.

This Midwest road trip takes your scenic adventure to another level with:

  • Wine Tasting – Madigan Winery, Lansing & Empty Nest Winery, Waukon
  • Bird Watching
  • Beer Tasting – Safe House Saloon in Lansing
  • Trout Fishing
  • Cheese Curd Tour – WW Homestead Dairy in Waukon
  • Shopping – Horsfall’s in Lansing, Paint Creek Gifts in Waterville and City Meat Market inNew Albin

Recommended by Val of Allamakee County

Take these tips with you! Download the free road trip checklist!

Grab your packing essentials for every road trip with kids. Includes the 15 things you don’t want to forget!

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Triple Nickel Byway (Ohio)

midwest road trip attractions ohio

Winding through the southern part of Ohio is the  Triple Nickel  which encompasses parts of State Route 555. If you’ve never been on this scenic, twisting by-way through the hills of Ohio, you need to put it on your bucket list! This is a perfect day trip that takes you from the picturesque town of Zanesville to the history-rich city of Marrietta.  

The Triple Nickel is one of the more challenging roads in Ohio, but you can take in some of the amazing historical sites when you’re in the area. While touring through Morgan County you can see the Big Muskie bucket part of the world’s largest earth-moving machine in Miner’s Memorial Park and Barkhurst Mill Covered Bridge.  

No trip on the Triple Nickel is complete without stopping to eat at the Triple Nickel Diner in Chesterhill. Pro-tip: Make sure to check their website for the hours of operation because they vary with the seasons.  

If you’re looking for a great place to stay while on the route, take a small detour to the  Stockport Mill Inn located in Stockport, Ohio . You’ll be treated to stunning views of the Muskingum River and the operating locks. Dotty, the owner, will treat you like family and feed you amazing comfort foods only found at the Inn.

The Triple Nickel doesn’t disappoint the road tripper looking for a challenge in the Midwest.

Recommended by Brandy of Gleason Family Adventure

Madison to Spring Green, Wisconsin

Madison WI road trip Midwest

One of the most exciting small cities in the Midwest is  Madison, Wisconsin . It has a wonderful dining scene and miles of shoreline and bike trails.

A culmination of a college-town and a bustling city, Madison is also home one of America’s most beloved architects: Frank Lloyd Wright. Wright used Madison and its neighborhoods as a canvas, where visitors can see his many designs come to life. Although several of Madison’s Wright-designed houses are private residences, designs like the First Unitarian Meeting Houses and Monona Terrace are must-see spots for any architectural buffs! Both buildings are just a short 10-minute drive away.

If you want to see more of the city’s art scene , visit either the Madison Museum of Contemporary Art or the Chazen Museum of Art! Both museums boast both Wisconsin-based artists, as well as international artists too. Furthermore, admission is free for adults, making this the perfect stop for anyone that loves to travel on a budget. 

While you’re in Madison we also highly recommend grabbing tacos from Matthew Danky and his exciting outpost El Grito Tacqueria.  

From Madison, drive about 40 minutes to the quaint town of New Glarus , Wisconsin. The main attraction here is New Glarus Brewing, one of the most highly regarded breweries by beer snobs across the country so make sure to spend a few hours there. 

New Glarus also has rich Swiss heritage. Explore and find an authentic Swiss bakery or locally made raclette and cheese fondue.

Our last stop is very enjoyable Spring Green, an hour away down winding country roads.  Frank Lloyd Wright spent the better part of his life living and working in Spring Green and maintained a school at Taliesin. Wright’s students designed many unique buildings in and around Spring Green.

Recommended by Nick of Road Goat

16 best Midwest road trips

Well there you have it! I hope you’ve found some inspiration on which route you’ll take on your upcoming Midwest road trip! Midwest states have a lot to offer for any type of road trip you’re looking for!

Comment below on which you’re considering – or which route surprised you most!

You might also like: Best Hiking in the Midwest – 16 Cool Hikes You’ll Love Denver to Moab Road Trip: 16 Scenic Stops You Gotta See to Believe 27 Awesome Things to Do in Sandusky, Ohio You Can’t Miss Perfect Colorado Itinerary: 22 Road Trip Stops You Need to See Miami to Key West Road Trip: 22 Stops Along the Way 26 Best Places to Visit in October in the US

Planning to rent a car for one of these scenic routes? Check out the cheap rental car rates on my favorite site. I save up to 30%, which is awesome!

Find this article helpful? Save it for later or share it on social media!

16 USA road trip routes you need to add to your list

Saturday 25th of September 2021

Awesome. I'm wanting to take a scenic drive from Kansas to Ohio, off the beaten path. What are your recommendations?

Sunday 26th of September 2021

Where in Kansas and Ohio? I've spent time in Kansas City and St. Louis which may be along the way, but aren't necessarily off the beaten path. Perhaps a bit more southern, I've heard the Mark Twain National Forest and Shawnee National Forest are both gorgeous! Otherwise I've recently spent time in Sandusky Ohio, Put-in-Bay Ohio and the Lake Erie area. I'm sorry, I'm not sure I have a whole lot of suggestions for that specific route since I haven't personally done it. Best of luck on your road trip!

Alice Peace

Wednesday 27th of January 2021

Thank you for this! A road-trip in the States is definitely on the cards in the future.

Yay! How fun, Alice. I'm crossing my fingers it's soon!

Pamela Foester

Tuesday 12th of January 2021

I love exploring the Midwest, thanks for sharing.

You're so welcome, Pamela!

Tuesday 25th of August 2020

You missed a Gem of the Midwest. Part of the Driftless region on NE Iowa you need to check out the town of Decorah and the area around it. River bluffs, water falls, bike trails, 3 award winning breweries, big Scandinavian culture and museum.

Wednesday 26th of August 2020

Great suggestion! I've heard of Decorah but have never been!

Christa Ellis

Tuesday 9th of June 2020

I love that you included the Levi Coffin House. I have a post about it on my blog. Levi Coffin was a distant cousin to me through his grandmother Prudence Beals/Bales.

Friday 12th of June 2020

Oh very cool! What a small world, Christa! My pleasure to feature it. :)

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  • Last Minute

25 Favorite Day Trips from Milwaukee to Inspire Your Next Vacation

Last Updated By VacationIdea Staff on February 15, 2024

25 Best Milwaukee Day Trips

The capital of Wisconsin, Madison's most iconic feature is its spectacular domed Capitol building, which rests on a narrow strip of land between lakes Mendota and Monona, but this is far from being the only thing the city has to offer. Summertime is perfect for visiting the farmers' market, sailing on the area's beautiful lakes, and exploring the city's vast network of cycling trails, while winter brings the opportunity to cross-country ski, skate, and ice fish. No matter what the time of year, you can also visit the fascinating Wisconsin Historical Museum, the Madison Museum of Contemporary Art, and the Henry Vilas Zoo.

  • 2. Appleton

Appleton

Nestled on the banks of the beautiful Fox River, Appleton is a welcoming small city jam-packed with interesting attractions. Check out the original Edison lights in the 1882 Hearthstone Historic House Museum, learn about Harry Houdini at the History Museum at the Castle, or go for a walk along the trails in the Gordon Bubolz Nature Preserve. If you have kids, the city also boasts a wonderful children's museum with interactive exhibits. You can even watch a Broadway show at the Fox Cities Performing Arts Center, which is widely recognized as one of the best centers of its kind in the Midwest. Things to do in Appleton

  • 3. Aztalan State Park

Aztalan State Park

N6200 County Rd Q, Jefferson, WI 53549, Phone: 920-648-8774

Chicago

One of the biggest and boldest cities in the United States, Chicago is the perfect day trip destination for anyone interested in museums, architecture, and delicious dining. Architecture enthusiasts can learn about the city's most famous buildings at the Chicago Architecture Center, or marvel at the skyline from above by heading up to the observation platforms in the Skydeck Chicago, the John Hancock Center, or the iconic Willis Tower. Next, you can browse the natural history exhibits at the Field Museum, admire the artwork in the Art Institute of Chicago, or head to Millennium Park to see the enormous reflective "Cloud Gate" sculpture.

  • 5. Door County

Door County

Occupying a picturesque peninsula between Lake Michigan and Green Bay, Door County boasts approximately 300 miles of shoreline and 19 vibrant communities for visitors to explore. Local wineries and breweries abound, but if you don't want to spend the day sampling beverages, you can paddle along the limestone bluffs in Potawatomi State Park, hike the trails in Newport State Park, or tour the 11 historic lighthouses that dot the shoreline. The area is also home to thousands of acres of cherry orchards, and if you like sweets, you shouldn't leave the county without sampling a slice of their famous cherry pie.

  • 6. Fond du Lac

Fond du Lac

Named for its location at the base of Lake Winnebago, Fond du Lac is a scenic lakeside community known as a paradise for outdoor lovers. The lake provides endless opportunities for recreation year-round, with popular activities including windsurfing, fishing, and ice fishing in the winter, but there are plenty of things to do off the water as well. The land around the lake offers excellent hunting grounds, hiking trails, and golf courses, and in town, there's an excellent selection of art galleries, local restaurants, and eclectic boutique shops that will keep visitors entertained for as long as they choose to stay.

  • 7. Fort Atkinson

Fort Atkinson

Established in 1832, Fort Atkinson is a historic city located on the meandering Rock River. The biggest tourist attraction in town is the Fireside Dinner Theater, which combines fine dining with live theater performances, but it's worth spending the day here even if the evening show is your main reason for coming. The Hoard Historical Museum is full of exhibits about the people and events that have shaped the area's history, and there is also a replica of the fort that gave the city its name. Visitors are also encouraged to stroll along the riverwalk or spend an hour or two paddling down the river.

  • 8. Galena, IL

Galena, IL

Tucked away in northwest Illinois, Galena is a tiny town that tends to make visitors feel like they've taken a step back in time; more than 85 percent of the town's buildings are listed on the National Register of Historic Places. The town is famous for being the former home of Ulysses S. Grant, the country's 18th president, and visitors who are interested in this aspect of the area's history can tour Grant's beautiful Italianate home. However, there are plenty of other things to see here as well, including the historic Turner Hall, the beautifully landscaped Galena Grant Park, and the West Street Sculpture Park.

  • 9. Green Bay

Green Bay

Sitting right on Lake Michigan, Green Bay is proudly the oldest settlement in the state of Wisconsin, and it has something to offer almost everyone. Sports lovers will know it as the home of the Green Bay Packers, and if this catches your interest, it's worth stopping by the Green Bay Packers Hall of Fame. Families might prefer to explore the hands-on exhibits at the Children's Museum of Green Bay or go on the rides at the Bay Beach Amusement Park, while history lovers should be sure to make time for the Heritage Hill State Historical Park, a unique outdoor living history museum.

  • 10. Elkhart Lake, Wisconsin

Elkhart Lake, Wisconsin

Located only an hour from Milwaukee and two and a half hours from Chicago, Elkhart Lake is a 292-acre spring-fed lake in the heart of Wisconsin's Kettle Moraine State Forest, and it is one of the deepest and oldest resort lakes in the heartland. It has been attracting visitors since 1860, and some of the old resorts famous for bathing and gambling still exist to this day, though they have been appropriately updated. The lake is very popular for sailing, and there are races every Sunday. Clear and clean, the lake is ideal for swimming, kayaking, and fishing for Bluegill, Brown, Rainbow and Brook Trout, Largemouth Bass, Muskellunge, Northern Pike, and Smallmouth Bass. There is a public boat launch maintained by the Wisconsin Department of Natural Resources, as well as a small public beach. In the winter, the lake is very popular for ice fishing, cross-country skiing, and snowmobiling.

  • 11. Harrington Beach State Park

Harrington Beach State Park

531 Co Rd D, Belgium, WI 53004, Phone: 262-285-3015

  • 12. Kenosha

Kenosha

Tucked in between Chicago and Milwaukee, Kenosha gets overlooked by travelers far too often, but those who take the time to stop here find that it's a vibrant city with plenty to offer. The local restaurants and breweries offer all sorts of tasty foods and beverages, including Wisconsin favorites like bratwurst and cheese curds, and the beautiful Bristol Woods Park features more than four miles of trails. There are also a handful of fascinating museums in town, including a Civil War Museum, a Dinosaur Discovery Museum, and the Kenosha Public Museum, which features a collection of mammoth skeletons.

Kohler

Centered around the innovative Kohler Design Center, where visitors can learn about the famous plumbing company's work from past to present, Kohler is a small village that was originally created to serve as a home for the people who worked in the factory. The company still plays a major role in the community — visitors can tour the factory to see faucets and bathtubs being made — but the town now has an excellent selection of world-class golf courses and excellent restaurants as well. Visitors can also walk along the Sheboygan River, visit the nearby Kohler-Andre State Park, or tour the town's spectacular botanical gardens.

  • 14. Lake Delton

Lake Delton

Part of the area fondly referred to as the Dells, Lake Delton is a welcoming resort town centered around a beautiful lake that shares its name. The town is a particularly good day trip destination for families with children, as it features a surprising number of water parks and themed adventure parks, but there are many other things to do as well. Visitors can take a horse-drawn carriage tour through the majestic Lost Canyon, go out on the lake on one of the Original Wisconsin Duck boats that were designed during World War II, or explore the shops and restaurants downtown.

  • 15. Lake Geneva

Lake Geneva

Set on the shores of Geneva Lake, the city of Lake Geneva has primarily been a resort community since it was established just after the Civil War. The lake is still surrounded by beautiful mansions built during the late 1800s, and although they're all privately owned, there is a 21-mile path open to the public that leads around the lake and through the estates' majestic backyards. Walking along this trail is a highlight for most visitors, but the area offers a wealth of other attractions as well, including golf courses, zipline canopy tours, and endless opportunities to boat, sail, and fish on the lake.

  • 16. Manitowoc

Manitowoc

A beautiful harbor city right on Lake Michigan, Manitowoc got its start as an important shipbuilding center, and it's still often referred to as the "Maritime Capital" of Wisconsin. In addition to being an important driver of the economy, the city's modern harbor is one of its biggest tourist attractions, and many visitors come here to charter fishing boats or luxury yachts. Off the water, visitors can learn about the city's maritime history at the Wisconsin Maritime Museum, dig into a hearty fish fry at one of the local taverns, or cycle along the Mariners Trail bike and foot path.

  • 17. Marshfield

Marshfield

Conveniently located at the junction of highways 10, 13, and 97, Marshfield is a small city known for its welcoming atmosphere, its eclectic selection of downtown shops, and its family-friendly attractions. One of the biggest points of interest is the Wildwood Zoo, which features drive-through areas and is home to more than 200 animals, including twin Kodiak brown bears. If you're more interested in architecture and history than wildlife, stop by the Upham Mansion for a tour or visit the World's Largest Round Barn, an impressive barn on the fairgrounds that dates all the way back to 1916.

  • 18. Mukwonago

Mukwonago

Only 30 miles outside of Milwaukee, the village of Mukwonago is a wonderful place to go if you're looking for a relaxing, rural experience. The Mukwonago River State Natural Area is a beautiful nature preserve that offers excellent hiking, canoeing, and kayaking, while the nearby Lower Phantom Lake is known for its healthy population of fish, including walleye, bluegill, and largemouth bass. If you want to pick up some fresh produce or unique local souvenirs, you also need to stop by the Elegant Farmer, a welcoming farm market housed in a large barn surrounded by orchards and farmland.

  • 19. Oshkosh

Oshkosh

Hugging the shores of Lake Winnebago just under the mouth of the Fox River, Oshkosh sprung up in the mid 19th century thanks to the lumber industry. The Asylum Point Lighthouse is one of the area's most iconic sights and the park surrounding it is a lovely place to have a picnic, but there are plenty of other attractions as well, including the EAA Aviation Museum, the Menominee Park Zoo, and a year-round farmers' market. Perhaps unsurprisingly, the town is also home to a handful of locally-owned craft breweries, most of which boast tasting rooms and weekly tours of the facilities.

  • 20. Pewaukee Lake

Pewaukee Lake

The largest lake in Waukesha County, Pewaukee Lake is a five-mile-long body of water that provides plenty of opportunities for outdoor recreation no matter what the time of year. There are three public boat launches on the lake, and while the water is excellent for everything from sailing to canoeing to water skiing, it's best known for its spectacular fishing. The waters are home to large populations of fish species like walleye, bluegill, and perch, but most fishermen are drawn here by the opportunity to catch one of the lake's uncommonly large muskies, which often grow bigger than 50 inches.

  • 21. Platteville

Platteville

Surrounded by the rolling hills of southwestern Wisconsin, Platteville is an inviting rural community with something to offer visitors of all ages. The most iconic sight in the city is the "World's Largest M", which is carved into a hill on the outskirts of town, but other points of interest include the National Brewery Museum, the petting zoo at Digman Farms, and the weekly farmers' market. If you have an interest in history, you also need to visit the Mining and Rollo Jamison Museums, where you can tour a historic lead mine and even hop aboard an authentic 1931 mine train.

  • 22. Port Washington

Port Washington

A quaint coastal city set right on the shore of Lake Michigan, Port Washington is like a little piece of New England in Wisconsin. The downtown streets are lined with charming historic storefronts that house everything from eclectic boutique shops to old-fashioned meat markets, and after doing a bit of shopping, visitors are encouraged to stroll down to the harbor to take a look at the town's iconic art deco lighthouse. Many visitors also come here to fish and boat on the lake, but if you'd rather stay on dry land, you can walk or cycle along the Ozaukee Interurban Trail.

  • 23. Sheboygan

Sheboygan

Another inviting city on the Lake Michigan shore, Sheboygan is a great place to come if you're looking for a relaxing day trip. The city boasts plenty of sandy beaches and its luxurious spas, but it's perhaps best known for its bratwursts, which come flavored with everything from jalapeno to fennel seeds. Lovers of the arts should also stop by the John Michael Kohler Arts Center or the James Tellen Woodland Sculpture Garden. It's easy to spend an entire day taking it easy here, but if you want to do something more active, the lake is perfect for fishing, sailing, and surfing.

  • 24. Two Rivers

Two Rivers

Known as the "cool city" because of the breeze that blows through it off Lake Michigan, Two Rivers is a vibrant maritime community. It's one of the best deep-water sport fishing spots in the state, and there are no fewer than 37 shipwrecks in the surrounding waters, many of which are excellent scuba diving sites. Visitors can learn about the shipwrecks at the Rogers Street Fishing Village. The town also holds the honor of being where the ice cream sundae was invented in 1881, and if you want an authentic taste of this sweet treat, stop by the old-fashioned soda fountain at the Washington House.

Volo

Boasting an incredible collection of cars and other vehicles, the Volo Auto Museum is a day trip the whole family can enjoy. There are more than 30 unique exhibits for visitors to explore; movie buffs will love the Batmobile Collection and the TV and Movie Cars exhibit, while history lovers will likely be interested in the military exhibit and the collection of steam powered vehicles. If you're visiting with kids, you'll also need to see the Disney gallery, the carousel museum, and the collection of antique kiddie rides. Train tours around the property are offered during the summer months.

The 25 Favorite Day Trips from Milwaukee to Inspire Your Next Vacation & Fun things to do near me today:

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The 7 best day trips from Milwaukee

Sojourner White

Aug 24, 2021 • 7 min read

White River view in Geneva Town, Wisconsin

Geneva Town, Wisconsin, is one of the most picturesque day trips from Milwaukee © Nejdet Duzen / Shutterstock

Milwaukee has plenty to do for visitors looking for affordable, memorable and enjoyable travel experiences. But thanks to the city’s location in southeastern Wisconsin, Milwaukee also makes a great gateway to other must-visit destinations in the state as well as into Illinois.

On a short trip from Milwaukee , you can relax in resort towns and water parks, go on a hike or sip a glass of wine. Here are the best day trips from the city.

White River view in Geneva Town, Wisconsin

1. Lake Geneva, Wisconsin

Why go? To hike along the lake and then wind down at a resort spa.

The original inhabitants of Lake Geneva were the Potawatomi people, and later wealthy Chicagoans built houses around the lake after the Great Chicago Fire of 1871. Now Lake Geneva has transformed into a popular resort town with plenty to do inside and outside. Seasonal activities include snowmobiling, skiing, swimming and ziplining. Visitors can also hike through Big Foot Beach State Park or the Lake Geneva Shore Path, which offers a scenic view of the water on one side and Gilded Age mansions on the other. 

Turn on relaxation mode by heading to the Grand Geneva Resort Spa , which offers customizable spa packages. Otherwise, if you’re up for an adventure, go horseback riding at Dan Patch Stables and then hang out at Topsy Turvy Brewery's  outdoor beer garden. Wine enthusiasts should grab a seat at Studio Winery + Lake Geneva Distilling to listen to live music on the weekends. 

How to get to Lake Geneva: It’s a 50-mile drive to Lake Geneva from Milwaukee, which takes just under an hour. There’s no public transportation available.

The 10 best beaches in Wisconsin

A concert at the popular Jay Pritzker Pavilion in Millennium Park, Chicago

2. Chicago, Illinois

Why go? Because you can’t leave the Midwest without a trip to the region’s biggest city.

Travelers can get a taste of big-city energy in Chicago . The Windy City is the largest in the Midwest, and it provides visitors with endless options for food, shopping and museums. The Art Institute of Chicago , Shedd Aquarium , DuSable Museum of African American History and Cloud Gate , affectionately known as The Bean, in Millennium Park are just a few of top sights to see on a day trip.

Because of Chicago’s rich diversity, it also has one of the best food scenes in the country. Visitors can indulge in Chicago-style hot dogs from Portillo’s , fried chicken from Harold’s Chicken Shack and deep-dish pizza from Lou Malnati’s . Chicago is a jam-packed day trip whether you’re traveling with family, solo or for a romantic getaway. 

How to get to Chicago: From Milwaukee, you can drive or take the Amtrak train to Chicago. Driving takes two hours, while Amtrak takes an hour and a half. Amtrak departs from downtown Milwaukee and drops you off in downtown Chicago’s Union Station.

Top things to do in Chicago

Aerial view of the downtown district in Cedarburg, Wisconsin

3. Cedarburg, Wisconsin

Why go? To taste award-winning wines at an affordable price.

North of Milwaukee is the small town of Cedarburg. Originally the land of the Potawatomi and Sauk people, Cedarburg became a mill town with the arrival of German settlers in the 1800s. Visitors today can find the Cedarburg Art Museum , Cedarburg History Museum and plenty of festivals to experience, including Oktoberfest . 

A highlight of Cedarburg is the family-owned Cedar Creek Winery , which started as a wool mill in 1864 before being transformed into a winery three decades ago. Wine lovers can take a tour and taste the seasonal wines, which range from sweet, mulled red wine to a fruity strawberry blush. The combination of small-town charm, wine and festivals make Cedarburg a cute mini-escape from Milwaukee. 

How to get to Cedarburg: Cedarburg is just a 20-mile, 30-minute drive from downtown Milwaukee. Some Ozaukee County Express bus services from the Milwaukee County Transit System run to Cedarburg, but you’ll need a taxi to get you downtown or to the winery.

The south shore of Devil's Lake at sunset

4. Baraboo, Wisconsin

Why go? To hike one of only 11 national scenic trails from the Ice Age.

Nicknamed the “Circus City” because of the Ringling Brothers’ presence here in the 1800s and 1900s, Baraboo is the home of the  Circus World Museum and Devil’s Lake State Park . Bringing in 3 million visitors every year, Devil’s Lake is Wisconsin’s most visited park and part of the 12,000-year-old Ice Age Trail . Glacial ice cascaded Wisconsin during the Ice Age, and the rocky remnants now span more than 9000 acres of Devil’s Lake with a beach view in the middle. 

Devil’s Lake is ideal for travelers who like moderate hikes, so bring water and sturdy shoes with you on this day trip. You can also rock climb on the glacier formations, such as the photoworthy Devil’s Doorway Trail. Other trails include the West Bluff Trail, East Bluff Trail and Balanced Rock Trail.

For something more low key, stop by the town's free year-round  Ochsner Park Zoo . Canada Lynx, capuchin monkeys, wolves and bears are just some of the 30 different animal species on display, along with a picture-worthy (and refreshing) stop in front of a playful lion water fountain.  

How to get to Devil’s Lake: Devil’s Lake is 120 miles from Milwaukee, and the drive takes two hours. There is no public transportation available.

Visitors at Mt. Olympus Water and Theme Park, in Wisconsin Dells

5. Wisconsin Dells, Wisconsin

Why go? Because families will love waterpark hopping.

Home to more than 20 indoor and outdoor waterparks and three ski resorts, the Wisconsin Dells is a kitschy, family-friendly place to visit year-round. Mt. Olympus , Noah’s Ark and Kalahari Resort are three popular options for those wanting to dive into some water activities. If you’d rather stay on dry land, you can visit Ripley’s Believe It Or Not and mini-golf at Pirate’s Cove . When you’ve worked up an appetite, head to MACS (Macaroni and Cheese Shop), High Rock Cafe for classic American cuisine or The Del-Bar for cocktails and drinks.

How to get to Wisconsin Dells: The Wisconsin Dells is less than two hours from Milwaukee by car. Amtrak trains from downtown Milwaukee’s Intermodal Station to Wisconsin Dells Station take two hours. 

A boardwalk in Sheboygan leading to Lake Michigan

6. Sheboygan, Wisconsin

Why go? Because a trip to Wisconsin isn’t complete without locally made cheese curds and a brat.

Sheboygan lies on the western coast of Lake Michigan, and plenty of activities promise to keep visitors occupied, from Segway and group pedaling tours to sailing on the lake, surfing and cycling. Other activities include a day at Blue Harbor Resort , walking through Kohler-Andrae State Park or visiting the John Michael Kohler Arts Center . Families can relax in Bookworm Gardens , a botanical garden inspired by children’s books.

Sheboygan is known for its bratwurst and cheese, so grab a brat from Charcoal Inn South and cheese curds from 8th Street Ale Haus . For more local cheese, including the famous Gibbsville Cheese, check out the shops in Sheboygan. Visitors can try and buy cheese curds of all flavors including classic, cajun, jalapeño and dill, BBQ, cheddar, hot garlic and more.

How to get to Sheboygan: You need a car to get to Sheboygan. It’s a one-hour, 55-mile drive from Milwaukee.

A music act outside the Wisconsin State Capitol building during a regular Saturday Farmer's Market

7. Madison, Wisconsin

Why go? To experience the budding food and art scene of Wisconsin’s capital city. 

The capital of Wisconsin, Madison is located on Lake Michigan and has buildings designed by the famous architect Frank Lloyd Wright. Visitors can stop by the State Capitol , with an interior of colorful murals and a white, 285ft-high dome. To explore more of Madison, check out the Olbrich Botanical Gardens or their farmer’s market and summer concert series for entertainment. Visitors who love museums should add the Madison Children’s Museum , Madison Museum of Contemporary Art or the Chazen Museum of Art to their itinerary. When you’re hungry, head over to get a juicy burger from Oakcrest Tavern , enjoy farm-to-table dining at Heritage Tavern or make it a date night at the bistro A Pig in a Fur Coat . 

How to get to Madison: The drive from Milwaukee takes about an hour and 15 minutes. The Badger Bus runs several services a day between the two cities.

You might also like:  Experience the Great Lakes on one epic road trip Make a great escape to Wisconsin’s Geneva Lake Meet the Cape Cod of the Great Lakes: Door County, Wisconsin

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10 Charming Day Trips from Milwaukee, Wisconsin

Posted by Brittany Varano November 29, 2021 Updated February 01, 2024

Milwaukee is a vibrant city filled with excellent attractions, but there are plenty more incredible Wisconsin travel experiences to be had nearby.

If you’ve had your fill of the hustle and bustle of the city’s concrete streets, a day trip from Milwaukee may be just the ticket. Thankfully, the city is conveniently located in southeastern Wisconsin along the shores of Lake Michigan. That means Milwaukeeans and visitors alike enjoy day-trip distance to exciting places like Chicago, Madison, and all the beautiful state parks and resort towns in between.

Whether you’re a local looking to escape for a day, or a traveler seeking the best attractions outside of Milwaukee, this list should satisfy your itch for new adventures. Check out these amazing day trips from Milwaukee for classic Wisconsin fun.

Related Read : 11 Peacefully Secluded Cabin Rentals in Wisconsin

1. Devil’s Lake State Park

Devil’s Lake State Park, Baraboo, Wisconsin

Devil’s Lake State Park offers a fantastic day trip destination from Milwaukee, attracting over three million nature lovers each year. The park is best known for 500-foot tall bluffs that surround the pretty waters of Devil’s Lake.

Wisconsin is pretty flat, so that means the park’s hiking trails are amongst the most challenging in the state. If you’re up for a steep climb, take the Balanced Rock Trail up and over rocky terrain to the East Bluff Trail . From there, you can hike the length of the bluff to Elephant Rock.

Visitors also come to swim, kayak, hike, and picnic using the public grills and tables. Pets on leashes are welcome into the park, as are chill picnic brews. If you have more time to spare, consider visiting nearby attractions in Baraboo such as the Circus World Museum , Balanced Rock Winery , and Ski-Hi Apple Orchard .

Distance from Milwaukee: 119 miles (approx. 1 hour and 55 minutes)

Related Read : 10 Best Lake Camping Destinations in Wisconsin

Chicago, Illinois

Chicago is a city that needs no introduction and has been voted the “Best Big City in the U.S.” by Condé Nast the past few years. Its prime location along the scenic shores of Lake Michigan, historic landmarks, and striking modern skyscrapers leave visitors in awe. While a day is only enough to scratch the surface of the Windy City, making time for the classic attractions is a must.

Be sure to take a stroll along the Chicago Riverway, where river cruises, bars, restaurants, and cafes make for a pleasant first stop. The reflective Bean sculpture in Millennium Park and famous Navy Pier are other iconic Chicago landmarks perfect for first-time visitors. Don’t forget to save room for a classic Chicago hot dog from Superdawg Drive-In or a deep-dish pizza from Lou Malnati’s.

For something off the beaten path, consider exploring the Lincoln Park and Wicker Park neighborhoods. Places like Garfield Park Conservatory and The Violet Hour speakeasy offer less busy Chicago experiences as well.

Distance from Milwaukee: 92 miles (approx. 1 hour and 35 minutes)

Related Read : 10 Best Places to Visit in the Fall Across the U.S.

3. Lake Geneva

Lake Geneva, Wisconsin

Lake Geneva is a charming resort town that’s long provided the city folk of both Chicago and Milwaukee a reprieve in nature. Named after the nearby Geneva Lake, many of the best attractions are centered around the area’s beaches and numerous bodies of water.

Big Foot Beach State Park is a popular place to swim, camp, fish, and hike. If you’re up for a longer hike, challenge yourself to a walk around the Lake Shore Path that circles the entire lake and totals 26 miles. Other things to do in Lake Geneva include golfing, zip-lining, visiting local orchards, and more.

When hunger hits, consider local favorites like Next Door Pub & Pizzeria for a pie or Freddie’s West End for a classic fish fry.

Distance from Milwaukee: 55 miles (approx. 55 minutes)

Related Read : 10 Amazing Small Towns in Wisconsin for a Charming Escape

Madison, Wisconsin

As the state’s capital and second-largest city, Madison has a lot of worthwhile attractions to easily fill a day’s visit. It’s famous for its unique location surrounded by two large lakes where people often boat, kayak, paddle boat, and more. It also boasts a unique art-focused culture and a fantastic food and bar scene.

While any day of the week is suitable for a visit, try to come on a Saturday to stroll around the Capitol Square Farmers Market. Be sure to stop at Stella Bakery’s stand for their famous Hot and Spicy Cheese Bread and Farmer John’s for squeaky fresh cheese curds.

After you’ve fueled up at the market, take a walk down State Street for shopping and cafes and end your trip at the colorful Memorial Union Terrace for a beer and pretty Lake Mendota views. Other things to do in Madison include touring the historic capitol building and smelling the flowers at the Olbrich Botanical Gardens.

Before you head back to Milwaukee, grab a juicy grass-fed burger from popular joints like The Old Fashioned and Dotty’s Dumpling’s Dowry.

Distance from Milwaukee: 80 miles (approx. 1 hour and 20 minutes)

Related Read : 10 Cozy & Comfortable Wisconsin Tiny Home Vacation Rentals

5. High Cliff State Park

High Cliff State Park, Sherwood, Wisconsin

Nestled along the shores of Wisconsin’s largest inland lake, High Cliff State Park is a great place for nature lovers seeking fresh air. It’s famous for towering limestone bluffs that make up part of the Niagara Escarpment, and sweeping views of Lake Winnebago. The park also features a 40-foot tall observation tower that looks out onto nearby cities like Oshkosh and Neenah.

As if that wasn’t enough, visitors can also enjoy seeing ancient Native American effigy mounds and a 100-year old abandoned lime kiln. When the weather is warm, pack a swimsuit and a picnic to enjoy at the park’s beach. Additionally, four boat launches and accessible shore make the lake popular for boating, windsurfing, and other water sports.

Some of the best hiking and walking trails are the Lime Kiln Trail , a 2-mile loop that passes the abandoned kiln, and the Red Bird Trail , which takes you to the top of the cliff with lake views. Many people also come to High Cliff to enjoy colorful fall foliage.

Distance from Milwaukee: 100 miles (approx. 1 hour and 45 minutes)

Related Read : 9 Absolute Best State Parks in Wisconsin

6. Green Bay, Wisconsin

Green Bay, Wisconsin

Green Bay is a football town through and through, thanks to the historical legacy of the state’s beloved Green Bay Packers. Visiting the Titletown District and seeing a Packer’s home game at Lambeau Field is a bucket list item for many Wisconsinites. It’s also a fantastic glimpse into the die-hard football fandom that exists in Green Bay. But football isn’t all there is to do in this mid-sized city.

Housed within an old brick train station, Titletown Brewery is an excellent stop on any Green Bay itinerary for many reasons. Not only do they serve up delicious local food and beer, but the microbrewery sits along the Fox River, looking out onto the city skyline.

Other can’t miss attractions include visiting the Green Bay City Deck, exploring Bayshore County Park, and getting a history lesson at the National Railroad Museum .

Distance from Milwaukee: 118 miles (approx. 1 hour and 50 minutes)

Related Read : 10 Beautiful Scenic Drives in Wisconsin

7. Wisconsin Dells

Wisconsin Dells, Wisconsin

Family-fun and beautiful nature awaits at the Wisconsin Dells, a tourist resort area where the Wisconsin River meets Lake Delton. As its nickname “The Waterpark Capital of the World” suggests, the city is best known for the sheer volume of water parks clustered in town. Summer is undoubtedly the best time to visit for outdoor water fun found at top attractions like Noah’s Ark and Lake Delton Beach.

Warm weather also presents the best conditions for taking a Wisconsin Duck tour through the striking gorges of the Wisconsin River. Be sure to take the Upper Dells Tour to witness the impressive beauty of the Witches Gulch , a mossy canyon lined with boardwalks offering jaw-dropping views.

However, once cold weather strikes, indoor water parks are a fantastic way to escape the harsh Wisconsin cold. Highly-rated resorts like The Kalahari and the Great Wolf Lodge offer day passes for visitors to experience indoor water slides, swimming pools, spas, and dining.

Distance from Milwaukee: 122 miles (approx. 1 hour and 50 minutes)

Related Read : 12 Best Cabin Rentals Near Wisconsin Dells

8. Six Flags Great America

Six Flags Great America, Gurney, Illinois

Roller coasters are certainly not everyone’s cup of tea, but if you’re a thrill-seeker, Six Flags Great America in Gurney, Illinois is a fantastic day trip from Milwaukee.

As one of the largest amusement parks in the Midwest, the park has fifteen roller coasters spread amongst four themed areas. Rides in the park that range from scary to kid-friendly making Six Flags suitable for a family day trip too.

Six Flags also puts on live shows and seasonal events so you can have a different experience every time you visit. For those who don’t enjoy coasters, the Six Flags grounds also feature a 20-acre waterpark dubbed Hurricane Harbor. You can purchase day passes online before you arrive to skip the lines.

Distance from Milwaukee: 50 miles (approx. 50 minutes)

Related Read : 10 Best Illinois Glamping Rentals

10. Kettle Moraine State Forest

Kettle Moraine State Forest

The Kettle Moraine State Forest spans over 55,000 acres and offers numerous ways to enjoy a day trip. The state forest displays Wisconsin’s unique glacial landscape.

It’s filled with notable landmarks like kettle lakes and wooded glacial hills. The forest is so large that it’s broken up between the northern and southern units and is connected via the impressive 1,200-mile-long Ice Age National Scenic Trail .

Aside from exploring the various segments of the Ice Age Trail, some of the best things to do in the northern unit include hiking to the Parnell Observation Tower. Measuring 60 feet tall, it offers the highest vantage point in the forest. Other places to visit include Long Lake, Dundee Mountain, and Greenbush Recreation Area.

The southern unit is best known for beaches and watersports at Ottawa and Whitewater Lakes. There are also impressive hiking trails to explore that span tens of miles. The most popular include the Emma Carlin, John Muir, and Nordic Trails, which pass through native prairies, forests, and waterways.

Distance from Milwaukee: 45 miles (approx. 45 minutes)

Related Read : 10 Relaxing Wisconsin Cabin Rentals with Hot Tubs

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Seen in: Midwest , Road Trips , Wisconsin

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Posted by Brittany Varano

Brittany is a freelance travel writer and avid photographer with a love of hiking and nature. Originally from Wisconsin, she fell in love with travel blogging after living and teaching English in South Korea. She’s now location independent and enjoys slow travel to new and exciting places.

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9 Fantastic Day Trips From Milwaukee

short road trips from milwaukee

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  • Activities and Interests
  • Destinations
  • Door County
  • Lake Geneva
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  • United States

Wisconsin’s largest city provides a lot for both visitors and locals to enjoy. From its lovely lakeside location and brewing history to its world-renowned museums and quirky festivals, Milwaukee does not disappoint. But as exciting as the city itself is, it’s also a great home base for exploring the surrounding area.

Here are some of the best day trips from Milwaukee . They’re sure to make your time in the Midwest extra special!

The coastline of Lake Michigan in Door County.

max voran / Shutterstock

1. Door County, Wisconsin

Known as the Cape Cod of the Midwest, Wisconsin’s Door County is an excellent day destination from the Brew City. This peninsula juts out into Lake Michigan and Green Bay (the body of water, not the city). The county is the largest by size in the entire state and is home to a number of charming communities, including Ephraim, Sister Bay, Baileys Harbor, Sturgeon Bay, Egg Harbor, and Fish Creek.

There is so much to do in Door County that one could easily spend days there, so for day-tripping purposes, I suggest picking one community or area and exploring it fully. That could mean shopping and eating in Fish Creek, taking the ferry to Washington Island, or seeing the famous cows on the roof at Al Johnson’s in Sister Bay. Other fun activities include hiking at Peninsula State Park , taking the farm tour offered by the Door County Creamery, or trying out the numerous area breweries , wineries , distilleries , and cideries . Dive bar connoisseurs will love The Blue Ox on the quiet side of the peninsula, the southeastern Lake Michigan side; it opened in the 1800s as a general store and is now a kitschy watering hole. Door County is also known for its iconic cherries , and day-trippers can try them in local baked goods or consider a pick-your-own-cherries experience.

The gateway to Door County and the county seat of Sturgeon Bay is a little over 2 hours away from Milwaukee by car. The other towns along the peninsula are farther, so plan accordingly for the best day-trip experience.

The skyline of Chicago, Illinois.

Sean Pavone / Shutterstock

2. Chicago, Illinois

The Midwest’s largest city is just an hour and a half by train or car from Milwaukee. Amtrak offers service seven times a day, and since Chicago is famous for its traffic, I suggest taking the train. You’ll save money on parking, avoid the traffic, and get there faster than you would by bus, which can take 2 hours or more. Once you’ve arrived in the city, the public transit is easy to navigate, the city is quite walkable, and ride-share options abound for those who prefer a lift.

Chicago is home to amazing upscale shopping, museums, and attractions; a famous dining scene ; and so much more. For a classic Chicago experience , travelers should plan to try deep-dish pizza , see the Bean in Millennium Park, and enjoy the architecture boat tour of the city. Other fun attractions include the Chicago Children’s Museum , the Shedd Aquarium , the Art Institute of Chicago , and the Field Museum of Natural History .

It’s clear that the Windy City delivers maximum day-trip potential for those starting in Milwaukee.

3. Kohler, Wisconsin

For a charming village vibe, Kohler, Wisconsin, provides a fun day-trip experience. Plus, it’s just an hour from Milwaukee. Visitors interested in design will love the Kohler Design Center , open for daily tours during the week. There’s even a museum in the center! For those seeking to relax, Kohler is home to the renowned Kohler Waters Spa ; this is one of fewer than 70 five-star spas found worldwide. The town is also known for its numerous championship golf courses . Additionally, travelers could try Kohler’s Blind Horse Restaurant & Winery , which bills itself as a Napa-style establishment.

Aerial view of Sheboygan, Wisconsin.

Jacob Boomsma / Shutterstock

4. Sheboygan, Wisconsin

This option is a perfect add-on to a Kohler day trip, since it’s just 10 minutes away from the village and an hour’s drive from Milwaukee. Sheboygan, Wisconsin, sits on Lake Michigan’s stunning western shore and boasts a pretty lighthouse plus waterfront activities like kayaking, fishing, and even surfing. Visitors of all ages will love the shipwreck on the lakefront and the area’s whimsical Bookworm Gardens . Sheboygan is a dairy hot spot, too — it’s home to the Sargento headquarters as well as the Old World Creamery . To sample some incredible cheese, check out these cheese shops in Sheboygan County.

If you’d prefer not to drive, you can take the train, but the trip will take up to 2 hours.

Elkhart Lake, Wisconsin.

5. Elkhart Lake, Wisconsin

Also located in Sheboygan County is the charming town of Elkhart Lake, Wisconsin , near the Kettle Moraine State Forest and the Ice Age Trail . Great eateries like the bistro-style Lake Street Café and the inventive Paddock Club make this an especially tasty destination. To get more hands-on with food, home chefs and newbies alike can visit the cooking school at the Osthoff Resort. Racing enthusiasts and history buffs can check out Road America , a famous European-style track in the area; go-karts and ATVs are available there when a race isn’t occurring. During warm weather, visitors can also enjoy lake offerings like water sports, fishing, swimming, and more. The lake is one of the deepest in the state and is known for its unbelievable turquoise spring-fed water.

Elkhart Lake is about an hour and 15 minutes from Milwaukee proper by car, which is the best option to get there.

A boat on Lake Geneva in Wisconsin.

Visit Lake Geneva

6. Lake Geneva, Wisconsin

Another lovely resort town, Lake Geneva, Wisconsin , is a sure winner located just an hour southwest of Milwaukee. What is unique about this area is the 26-mile path that loops around the lake. Known as the Lake Geneva Shore Path , the trail offers pretty water views and is adjacent to some unbelievable mansions. The city’s tourism bureau recommends starting at the Lake Geneva Library and heading out in either direction for about a mile. This section of the shore path is paved, level, and easy to navigate. Lake Geneva is also home to numerous ice cream shops and tasty restaurants , including Sprecher’s Restaurant & Pub with its famous root beer. For those interested in fun high in the sky, zip-line tours are another popular activity.

Downtown Madison, Wisconsin.

Andrew Jalbert / Shutterstock

7. Madison, Wisconsin

The capital of Wisconsin, Madison , is located just an hour and a half west of Milwaukee by car. Day-trippers should make time to explore the beautiful campus of the University of Wisconsin-Madison , tour the Capitol building , and check out the famous farmers market . Summertime visitors should visit the sixth-floor museum and observation deck at the Capitol, which are only open during the warm-weather season. Madison is also known for its many festivals, so check the city’s calendar for any that might interest you. Food tours , breweries, distilleries, and wineries can also be found in the capital city.

Aerial view of Green Bay, Wisconsin.

8. Green Bay, Wisconsin

Packers fans will especially enjoy Green Bay, Wisconsin , located less than 2 hours from Milwaukee by car. The city offers numerous activities perfect for a day trip, like the Green Bay Botanical Garden , the National Railroad Museum , and Lambeau Field . Day-trippers who want to see the stadium should also be sure to stop at the adjacent Hinterland Brewery and Restaurant in the Titletown District. Besides offering handcrafted local beers, this spot has an excellent and underrated charcuterie tray. Those interested in touring the brewing operation must visit on a Saturday afternoon.

Green Bay would be an excellent stop on the way to Door County; after all, the city is just a 45-minute drive from the heart of the peninsula.

Aerial view of the Wisconsin Dells.

9. Wisconsin Dells, Wisconsin

Another fun day-trip opportunity from Milwaukee is the Wisconsin Dells area. Known as the water-park capital of the world, the Dells are located in southern Wisconsin less than 2 hours from Milwaukee by car. One great spot to visit is Noah’s Ark Water Park , the largest in the country, which features more than 50 waterslides. A family-friendly eatery there is Moosejaw Pizza , which also houses the Dells Brewing Company. The staff provides free antler headbands to all visitors for lots of family fun. Those interested in outdoor activities should consider the ropes course , zip-lining , horseback riding , or the signature Duck boat tours .

The Dells area would be a great stop on the way to Madison.

As you can see, there are countless wonderful day-trip opportunities from the Milwaukee area. These are just a few of the many excursions available.

Image of Katy Spratte Joyce

Katy is a freelance food, business, and travel writer currently based in Omaha, Nebraska. Her passions include spending time at the lake, cooking, traveling, reading, brunching, and thrifting. Besides Travel Awaits, she has contributed to Greatist , Matador Network , Chilled Magazine , Business Insider , Popular Science , Crunchbase News , and many other print and digital publications.

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10 Best Road Trips from Milwaukee for a Family Weekend Getaway

10 Best Road Trips from Milwaukee for a Family Weekend Getaway

Cover Photo: Richard Hurd  on flickr.com ( CC BY 2.0 )

 1. Valparaiso, Indiana   

Distance: 146 miles; Driving time: 2 h 33 min.

Valparaiso is a city and the county seat of Porter County, Indiana, United States. 

Start your adventures with a tour of the vibrant art scene that includes the Porter County Museum and the Brauer Museum of Art Center for the Arts.  

Take in a show at the Chicago Street Theatre or a musical performance that warms your heart at the Memorial Opera House . 

If you enjoy outdoor excursions, you can walk the trails at Rogers-Lakewood Park or tour the blooming flowers at Taltree Arboretum and Gardens .

 2. Chicago, Illinois 

Distance: 92 miles; Driving time: 1 h 34 min.

The windy city is a cornucopia of modern art, fine dining, cutting edge comedy, and die-hard sports fans. There are dozens of museums and theater companies in Chicago, so a cultural experience is never hard to find. 

Snap a photo of your reflection in the silver Cloud Gate sculpture at Millennium Park before heading to Grant Park to get hit with the refreshing spray of Buckingham Fountain . 

Don't miss to visit  The Art Institute of Chicago, Museum of Science and Industry, and 360 Chicago Observation Deck.

1608280418210216.png

Source: Britta Heise  on wikimedia.org ( CC BY 2.0 )

 3. Baraboo, Wisconsin 

Distance: 117 miles; Driving time: 1 h 48 min.

Explore Baraboo’s greatest natural attraction in Devil’s Lake State Park . 

Learn about circus clowns and clowning and the history of clowns in International Clown Hall of Fame and Research Center . 

Visit Circus World Museum for its vast grounds house a profusion of circus memorabilia, exhibits and live shows showcasing the history of circuses. 

Before hitting the road, make a stop at the Baraboo Bluff Winery , a family-run winery that offers fantastic views and three tasting bars for your winning pleasure.

1608280545357839.png

Source: Joshua Mayer  on flickr.com ( CC BY-SA 2.0 )

 4. Wisconsin Dells, Wisconsin 

Distance: 123 miles; Driving time: 1 h 55 min.

Wisconsin Dells, a family-fun destination any time of year. Lying along the banks of the Wisconsin River, Wisconsin Dells takes its name from the towering sandstone formations–or dells–that line the river’s banks and were carved out during the last ice age. And as the “Waterpark Capital of the World,” Wisconsin Dells offers year-round watery fun at over 20 indoor and outdoor water parks and entertainment centers where gnarly waterslides, looping tube rides, lazy rivers and wave pools thrill and delight kids of all ages.

1608280781303144.png

Source: Roger W  on flickr.com ( CC BY 2.0 )

 5. Minocqua, Wisconsin 

Distance: 254 miles; Driving time: 3 h 56 min.

The Minocqua area offers dozens of activities and attractions that your kids will love! Here are just a few of top things to do. 

Northwoods Zip Line offers several canopy tour options for kids as young as three. Trek across adventure bridges, cruise over a lake, and for the competitive family, check out the dual race zip line. 

Bearskin State Trail , grab your bikes and explore this 18-mile crushed granite trail. Running along a former rail corridor, the trail crosses 13 trestle bridges and offers the opportunity to see a variety of wildlife, including deer and bald eagles. 

The second largest zoo in the state, Wildwood Wildlife Park & Safari is the perfect place for kids of all ages. 

Head over to one of the area's great beaches. You can choose Torpy Park, Brandy Park or Clear Lake , which offer picnic areas and restrooms, among other amenities. Build a sandcastle, bury your best friend in the sand, play some Frisbee, just Don't forget the sunscreen!

 6. Madison, Wisconsin 

Distance: 80 miles; Driving time: 1 h 19 min.

The sprawling University of Wisconsin sets the tone for this college town of cafes, bookstores, brewpubs, numerous restaurants (more per capita than anywhere else in the U.S.) and a good share of cultural and historical attractions. 

Wisconsin State Capitol,  free guided tours highlight architecture and art - mosaics, stained glass and murals.

Chazen Museum of Art,  galleries display African, Asian and 21st-century international works at this museum on the University of Wisconsin campus).

Olbrich Botanical Gardens,  the 16 acres encompass a rose garden, conservatory, sunken garden, and Thai pavilion and garden.

1608281235361675.png

Source: Richard Hurd  on flickr.com ( CC BY 2.0 )

 7. Green Bay, Wisconsin 

Distance: 117 miles; Driving time: 1 h 47 min.

Whether you're looking for concerts, festivals, outdoor celebrations or sporting events, Greater Green Bay has something for everyone to enjoy. 

Surround yourself with friendly pollinators and the plants they love at the Green Bay Botanical Garden 's Butterflies & Blooms exhibit. 

For over a century, Bay Beach Amusement Park has provided many families fun and enjoyment along the shores of the Bay of Green Bay. New this year for you to try is the 100-foot-tall Big Wheel.

 8. Door County, Wisconsin 

Door County is often called the “Cape Cod of the Midwest.” And it’s true that both places occupy a peninsula dotted with picturesque villages, contain a higher-than-average number of fudge shops per capita, and draw convoys of city dwellers on high-season weekends. Visit Ridges Nature Center & Baileys Harbor Lower Rangelight,  Climb the Cana Island Lighthouse , View sunset at Anderson's Dock , Ferry to Washington Island and so on.

image.png

Source: Leif and Evonne  on wikimedia.org ( CC BY 2.0 )

 9. Oshkosh, Wisconsin 

Distance: 93 miles; Driving time: 1 h 37 min.

Oshkosh boasts a variety of things to see and do for the whole family, from historic sites and cultural activities to outdoor recreation and sports. Oshkosh is home to several brewing companies, where you can taste some of the region’s top craft beers, as well as beautiful parks and green spaces for picnicking and fun in the sun, art galleries, museums and educational centers, and water parks. Top 3 attractions are EAA Aviation Museum, Menominee Park, and Paine Art Center and Gardens.

 10. Gurnee, Illinois 

Distance: 51 miles; Driving time: 52 min.

Gurnee, midway between Chicago and Milwaukee, is probably best known as the home of Six Flags Amusement Park and the Gurnee Mills shopping outlet. Now Midwesterners looking for a little rest and relaxation can sample the town's top attraction, the KeyLime Cove hotel and water park, which also features a spa, shopping and six restaurants.

These 10 top places are within 260 miles away from Milwaukee and make perfect family weekend getaways, whether it’s centered around outdoor activities, charming beaches or natural landscapes. 

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The Crazy Tourist

Home » Travel Guides » United States » Wisconsin (WI) » 15 Best Day Trips from Milwaukee

15 Best Day Trips from Milwaukee

As you dive into American history, one region of the nation that’s rich and dives deep into the country’s past is the Midwest.

Whether you’re looking for real-life contact with some of America’s most significant moments or you just want to grab a beer at some of its most famous breweries, Milwaukee is a great place to start.

Not only does the city have plenty of popular destinations, touristic and homegrown, it also has some pretty locations surrounding it—just a day trip away.

Here are the top 15 day trips from Milwaukee:

1. Milwaukee Mile

Milwaukee Mile

Whether you’re visiting the Wisconsin State Fairgrounds in West Allis or coming here for this attraction specifically, you can experience the rich history deep-rooted at the Milwaukee Mile or better known as “America’s Legendary Oval”. This speedway has stood the test of time as one of not just the country—the world’s oldest motor speedway still in use.

The one-mile “flat oval” track has been driven on since 1903 and has been host to a handful of IndyCar Series races and NASCAR events.

It’s also one of the only speedways left in the country that is still independently owned.

2. Six Flags

Six Flags Great America

If you want to get behind the wheel yourself, you can easily drive over to Six Flags Great America.

In less than an hour from Milwaukee’s city borders, you’ll have your pickin’ of over 60 rides—some of which are the most popular, scariest, or largest in the country.

Especially if you’re traveling with your kids, this is a great day trip to take for the whole family to enjoy.

If it’s an extremely hot summer day, you can also hop on over to Hurricane Harbor water park, which is right next door to Six Flags Great America.

3. Old World Wisconsin

Old World Wisconsin

This open-air, 576-acre museum set in the 19th century is home to a collection of 65 historic pioneer-era buildings to mimic the homelands of the first settlers to set foot in the area.

This life-size recreation of pioneer life employs costumed staff who put on re-enactments as the area’s first settlers—from Germany, Norway, Finland, and Denmark.

If you love what you see, you can send your children off to their summer camps or workshops and even have them sign up for vintage baseball.

During the holidays, as a treat, the museum puts on a Halloween Dinner Theatre and a Christmas program, as well as hosting annual ethnic dinners representing various countries.

Wind Point Lighthouse, Racine

If you’re looking for a view of a lighthouse, you can find one in Racine at the Wind Point Lighthouse.

Constructed originally in 1880, the lighthouse stands at 108 feet tall and serves as one of the most characteristically and historical points of the old Midwest.

You can also visit the Racine Heritage Museum, which with no doubt recounts the story of the lighthouse, serving as a beacon of light for ships since that was a location where there were frequent shipwrecks because of the darkness.

Orlando Metcalfe Poe, a Brigadier General in the Civil War had erected the Lighthouse and it still stands today as a visual beacon in Milwaukee’s history.

Chicago

Home to plenty of touristic attractions, like Millennium Park, Willis Tower, and the Bean, Chicago stands only 100 miles away from the city of Milwaukee, easily reachable for a day trip.

The big city is a perfect excuse for a touristic getaway, whether you are looking for the big-city feel or want to have a taste of artistic culture at the Art Institute of Chicago, the Field Museum or the Shedd Aquarium, you can easily make the drive down and indulge away.

Chicago is also home to some sports greats.

So, if in-season, you can always catch a Bears, White Sox or Cubs game.

6. Fort Atkinson

Fort Atkinson, Wisconsin

Home to entertainment held both indoors and out, Fort Atkinson can be an exciting day trip from Milwaukee.

This small town is a great excursion for some live music or visiting the two museums in town if you want to pop in for a bit of historic culture.

Whether you fancy going window shopping and grabbing some snacks at the Simple Life Country Store or Jones Market or hiking down the nature trails by Rock River, you can even choose separate paths from other people in your group—to only meet in the evening for a dinner show at the Fireside Dinner Theatre found on Rock River.

Kenosha, Wisconsin

Making a two-mile loop along the shoreline of Kenosha, the Electric Streetcar Circulator takes you through the city’s downtown and historic districts, where you can easily hop off and visit any of these attractions:

The Kenosha Public Museum is home to various diverse historic exhibits and has a broad collection of fine and decorative arts.

The Civil War museum also offers a trip down historic battlefields and visuals to tell their stories.

The Anderson Arts Center sits inside a 9,000 sq. ft. mansion, which is definitely worth the visit.

The lighthouse, one on a sandy beach located on the short along the pier, which is home to another lighthouse: the 1901 Pierhead Light or the other, the 1866 Southport Lighthouse up on the hill.

8. Kettle Moraine State Forest and Ice Age National Scenic Trail

Kettle Moraine State Forest, Wisconsin

If you are on the lookout for a little adventure, you can head out west to the outdoor playground.

Whether it’s summer or winter, there’s fun to be had for everyone—either a hiker’s heaven or skier’s snow-paradise.

The trail of kettle lakes has a nearby glacial landscape which can make for a beautiful hiking day—especially if you get up early enough.

The Ice Age National Scenic Trail crosses the forest area, making the best of both worlds literally collide.

These grounds are open all year long—perfect for a summer getaway or a day of hitting the slopes.

9. Lake Geneva

Lake Geneva, Wisconsin

This summer resort beach is just less than an hour away from Milwaukee’s borders.

Whether you are looking to lounge about on the Lake Geneva Cruise Line or you’re looking for more adventure on the 26-mile walking path, there’s something there for everyone.

After hiking all day or being out on the water, you can head downtown for some window-shopping in quaint boutiques or spend the rest of the day at Riviera beach.

After a bite to eat at some of the cafes or restaurants downtown, you can head out again on some major trails—over 250 acres at Big Foot Beach State Park.

Kohler, Wisconsin

It doesn’t matter who you are—whether you love to eat, love to shop or love to golf, there’s something for you to do in Kohler, Wisconsin.

You can even have a spa day at Kohler Waters Spa if you’re looking for something relaxing.

This village is the perfect place for a getaway—from escaping the city-life of Milwaukee to having whatever you fancy at your fingertips.

There are factories to tour and mounds of chocolate to eat—from the Blackwolf Run to the Craverie Chocolatier Café, you can choose your pleasure and pick your poison.

11. Cedarburg

old Mill in Cedarburg, Wisconsin

Home to a historical getaway just half an hour outside of Milwaukee, Cedarburg is a quaint little village with modern-day shopping and an old-world feel.

Take a step back in history with buildings designed like the 1855 Greek Revival Grist Mill and the 1920s filling station.

You can take your chances on an 1876 bridge made of planks and wooden pegs while passing through stone cottages and dining on some crepes and coffee.

Cedar Creek Settlement along with Cedar Creek Winery is a great suggestion when simply just looking to escape—whether it’s the modern world or your everyday life.

12. Green Bay

Green Bay, Wisconsin

Host of the ever famous Green Bay Packers, you can travel just a quick-shot 100 miles north of Milwaukee and grab your tickets to catch a game and see the players in action.

Lambeau Field awaits you—as long as it’s football season—so don’t miss a day out in the stadium to cheer on the green and gold.

If you’re not into American football or you are and it’s unfortunately not football season, you can take the young ones to the Green Bay Children’s Museum, bring the whole family to the Bay Beach Amusement Park or hop on any of the cruises that go on the bay.

There’s also the public museum for a rainy day.

13. Horizon Marsh

Horicon Marsh, Wisconsin

If bird watching is your thing, there’s no better place to do it than Horizon Marsh.

It is the biggest freshwater cattail marsh in the whole country, home to ducks, geese, and many, many more.

This wildlife protected national and state refuge also has programs for visitors and birdwatchers.

If you’re planning your trip, aim for the months of September and October for a parade, where you will see hundreds or thousands of ducks making their way as they head down south or take a trip in May when the migration moves on back north and there is also the Horicon Marsh Bird Festival taking place.

14. Indian Mounds and Trail Park

Indian Mounds, Wisconsin

Preserved to the best quality, eleven mounds shaped like various animals which were formed back almost one thousand years ago, call the Indian Mounds and Trail Park Home.

These were grounds for the indian people who used to live there hundreds of years ago and the center of their ceremonies.

Today, they are one of the top tourist attractions close to Milwaukee.

With its village partially re-made for visitors to enjoy, it has a stockade, the conical temple mounds, and a priest’s house located on the top of one of them.

The town nearby also has a dairy shrine and a museum of history, as well as the Lincoln Exhibit.

So if you are a history buff—this attraction is definitely right up your alley.

15. Ten Chimneys

Ten Chimneys

25 miles west of Milwaukee, you’ll find the Ten Chimneys, the holiday house of Alfred Lunt and Lynn Fontanne, in a quaint town called Genesee Depot.

Back when it was in use in the first half of the 20th century it was a hotspot for parties, rehearsal, and a getaway of sorts.

In this stunning house, American stars of the stage set foot as visitors of the couple, like Katherine Hepburn, Carol Channing, and Helen Hayes.

Nowadays, Ten Chimneys has been protected and given name as a historic landmark where they offer many tours to city visitors.

15 Best Day Trips from Milwaukee:

  • Milwaukee Mile
  • Old World Wisconsin
  • Fort Atkinson
  • Kettle Moraine State Forest and Ice Age National Scenic Trail
  • Lake Geneva
  • Horizon Marsh
  • Indian Mounds and Trail Park
  • Ten Chimneys

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Postcard Narrative

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Featured Milwaukee to Duluth

The Ultimate Road Trip from Milwaukee to Duluth for Outdoorsy People

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A Family-Friendly Road Trip from Milwaukee to Duluth: The Heart of the Midwest

This scenic journey with its first stop in Wausau, Wisconsin taking you just beyond the vibrant city of Duluth, Minnesota belongs on your Midwest road trip bucket list.

With countless incredible sights to behold along the way, you won’t want to rush. Take your time and soak in the beauty on this picturesque road trip. This nature-centric itinerary offers children loads of chances to explore the enchantment of the great outdoors.

Midwest Road Trip - Milwaukee to Duluth

Heading North through Wisconsin

We highly recommend spending a half day in Wausau, a charming town known for its outdoor recreation.

The Rib Mountain State Park is a must-visit, with hiking trails that cater to all levels of fitness. I’ve captured my family’s favorite kid-friendly Wausau activities in its own post, most notably the annual hot air balloon festival . In my opinion, it’s the best in Wisconsin for affordability and the quantity of participating balloonists.

Milwaukee to Duluth Wausau

Manitowish Waters

Dixie’s coffee house.

About 1.5 hours north of Wausau you’ll reach Manitowish Waters for a coffee break at Dixie’s Coffee House. The kids loved their glazed cinnamon roll while I savored a handcrafted latte. The welcoming atmosphere and peaceful docks on the water made it a perfect pit stop. You could also grab your drinks to go and take them along to the next stop.

Milwaukee to Duluth Dixie Coffee

North Lakeland Discovery Center

A short drive from Dixie’s is the North Lakeland Discovery Center . My kids were enamored with the natural playscape and story trail before we went inside to check out the brand new interactive nature center inside Discovery Hall. Kids can climb into an eagle’s nest, duck into a beaver dam, and inspect live animals up close.

Insider travel tip: Generously apply bug spray before hitting the playscape or the trails.

Milwaukee to Duluth Discovery Park

Upper Michigan

Porcupine mountain state park.

As we continue north, we reach Porcupine Mountain State Park. For more experienced hikers, your family will enjoy Lake of the Clouds. If you seek shorter hikes for little legs like we do, there are a few perfect options on the western end of the State Park, the Presque Isle River Area . Here you’ll find three beautiful waterfalls, a suspension bridge, and beach on Lake Superior perfect for splashing and rock play.

This section of the park was also more convenient to reach along our Milwaukee to Duluth road trip, since we’ll be heading westbound next.

Ask at the Ranger Station whether there are any naturalist programs during your visit.

Insider travel tips: Download a map well before entering the park as you will not find cell service here. Make sure to pack a picnic – there are plenty of scenic spots to enjoy a family lunch.

Milwaukee to Duluth Porcupine Mountain State Park

Driving Through Wisconsin’s Northernmost Peninsula

Copper falls state park.

Our next stop is Copper Falls State Park, where ancient lava flows have created dramatic gorges and waterfalls. Check out the easy two-mile loop, the Doughboy’s Trail, that offers stunning views of waterfalls.

While the Loon Lake Beach at Copper Falls State Park offers a fantastic spot for sand play and shallow water splashing, it’s important to be aware that leeches can be found in the lake. Stay vigilant! On a lighter note, my son turned this into a game and created a small pond on the beach to catch some leeches.

Insider travel tip: Before embarking on the Doughboy’s Trail, make sure to apply bug spray generously.

Milwaukee to Duluth Copper Falls State Park

Bayfield, Wisconsin

This picturesque destination serves as the gateway to the captivating Apostle Islands .

One of the highlights of our visit was a leisurely, 2.5 hour boat tour around the Apostle Islands , which proved to be the main attraction in the area. It offered the perfect opportunity to explore the National Seashore while accommodating our young children. They won’t be old enough for a long time to kayak the sea caves and the speed boats were more pricey and lack bathrooms. We truly feel this cruise was the optimal way to experience the National Seashore.

Insider travel tip: If you’re planning a boat tour of the Apostle Islands, make sure to book ahead of time. While there are several companies offering tours, the popular ones often fill up fast. Also, it’s worth noting that the weather can change quickly on Lake Superior; dress in layers and be prepared for rain or wind (or both). The weather drops 10 degrees when you get out to the islands.

Treat yourself to dinner at the Old Rittenhouse Inn . The restaurant is renowned for its fish fries and their signature dessert: the Raspberry Island Pie. If you want a no fuss dining establishment, we found Gruenke’s Inn to be especially laid back and welcoming of the kids.

Coming soon (early Aug 2023): Our comprehensive guide to the most exciting activities in Bayfield, WI. Don’t miss out on the full post!

Milwaukee to Duluth Bayfield Wisconsin

Amnicon Falls State Park

Before reaching Duluth, make a detour to Amnicon Falls State Park. The thunderous waterfalls and picturesque covered bridge make for great family photos.

Milwaukee to Duluth Amnicon Falls

Finally, we’ve made it from Milwaukee to Duluth, a lively city perched on Lake Superior’s westernmost tip. Highlights include the Lake Superior Railroad Museum, Great Lakes Aquarium, and a leisurely stroll along the waterfront. Don’t miss our full guide on kid-approved fun in Duluth ! In it you’ll find 18 ideas to thrill the whole family.

Milwaukee to Duluth - Duluth Things to Do

Beyond Duluth

Gooseberry falls state park & split rock lighthouse state park.

Just outside Duluth, Gooseberry Falls State Park and Split Rock Lighthouse State Park offer a perfect conclusion to our road trip. The cascading waterfalls and historic lighthouse against the backdrop of Lake Superior make for a memorable finish.

Milwaukee to Duluth State Parks North Shore of Lake Superior

Insider Travel Tip: Searching for agate in the state parks adds an exciting mission to your outdoor adventure. These semi-precious gemstones, particularly Lake Superior agates, are prized for their intricate patterns and vibrant colors. For the best chance at discovering these treasures, start your hunt after a rain shower when fresh erosion may have exposed new stones. Look in gravel or pebbly areas and always keep an eye out for the distinctive bands of color that agates are known for. Happy hunting!

Final Thoughts on the Milwaukee to Duluth Road Trip

This outdoorsy, family-friendly Midwest road trip from Milwaukee to Duluth offers an unforgettable journey through the Midwest’s natural beauty and charming towns. The itinerary will keep kids and adults alike entertained and intrigued throughout their journey. Lace up your hiking boots and start exploring!

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San Diego skyline and Waterfront

Road Trip from Milwaukee, Wisconsin to California

This epic inland road trip takes you from Milwaukee, Wisconsin, to the Golden state of California. You will travel through some of the most diverse states in America, visiting everything from mountains to canyons, parks to piers, Tinseltown to Sin City.

The 2,200-mile trip from Milwaukee, Wisconsin to California takes 33 hours, travelling through Des Moines, Omaha, Denver, Dixie and Zion National Forests, Las Vegas, San Bernardino and Los Angeles, before heading to either San Francisco or San Diego.

This amazing journey explores everything from beautiful landscapes and parks, to red rock canyons and impressive cityscapes. There are plenty of opportunities here for hiking, relaxing, city street strolling, and dancing the night away. Keep reading to find out the best places to see, things to do and where to stay when you make this memorable road trip.

How far is California from Milwaukee, Wisconsin, and how long will the road trip take?

Taking the San Diego Route to travel to California from Milwaukee, Wisconsin, takes about 33 hours to complete and covers 2,200 miles without detours.

The longer San Francisco Route covers 2,550 miles and takes significantly longer at 41 hours, not considering any stops or breaks along the way.

You could cover this journey in 3-4 days, but there is so much to see and do on the way we recommend spending 8-10 days to really enjoy everything this road trip has to offer.

Panoramic view of Coastline in San Diego

Best road trip route from Milwaukee, Wisconsin to California

This epic road trip from Milwaukee, Wisconsin, to California is jam-packed with renowned landmarks, city sights and beautiful scenery along the way.

A good portion of both routes start out on a similar path from Milwaukee to Los Angeles. Start off with an interesting visit around the State Capitol in Des Moines, before catching a baseball game in Denver in one of the most impressive stadiums around.

A hike is on the cards if you take a short detour to Moab, the gateway to the unmissable Arches and Canyonlands National Parks. After more incredible scenery? Then swing by Dixie National Forest, followed by an exploration of Temple of Sinawava at Zion National Park.

Change the pace with a visit to the bucket list sights of Las Vegas, starting with an awesome walk down the strip. There is nothing else quite like Sin City. Shortly after you will arrive in the cultural capital of Los Angeles. Make sure to take a selfie with the iconic Hollywood sign before cruising Rodeo Drive.

From LA if you continue on the San Francisco Route, the longer of the two options, you can marvel at Santa Monica's coastline and then Santa Barbara's history.

Watch out the window as you coast along the Big Sur, stopping at the gorgeous look-outs along the way. Then watch out for whales when you arrive in Monterey Bay. A real trip highlight.

Heading to San Diego instead of San Francisco after La La Land? Well then you can be sure of some rest and relaxation on the final leg of your trip. A visit first to Huntington Beach Pier for peaceful sunset strolls, then Laguna Beach for some sunbathing on the sandy shores.

The San Francisco Route

As you leave Milwaukee head on the I-43 until you arrive at Rockford, then take the I-88 and I-80 to Iowa's capital Des Moines, a tour of the State Capitol building is a must.

From here follow on the same route through Omaha and Lincoln, before arriving in the Mile High City of Denver. The I-70 then takes you past Moab where you can take a short detour to visit the stunning landscapes of Arches and Canyonlands National Parks.

After passing Manti-La Sal National Forest head south along the I-15 through Dixie National Forest until you reach Las Vegas. This bucket-list destination will certainly leave a lasting impression.

After Las Vegas you can enjoy the more tranquil sights and hikes of Mojave National Reserve, and scale Mount San Antonio, before reaching Los Angeles.

From LA head along the coastal route 101 north past Santa Monica and Santa Barbara, both packed with pretty shores and interesting history.

Shortly after you will travel Big Sur, a 90 mile expanse of road between Carmel and San Simeon, before landing at Monterey. Here take a breather for some whale watching along the coastline and visit Monterey State Beach . A short while later you will then pass San Jose and arrive in San Francisco.

A tunnel cut into the rock for the road passing through Red Canyon, a shallow valley surrounded by much exposed, orange red limestone and also part of Dixie National Forest, Utah, USA.

The San Diego Route

To reach San Diego you will need to follow the same directions as the San Francisco Route until you reach Los Angeles.

Travel south from Los Angeles along the I-5 passing Anaheim and then Huntington Beach. The pier is a great stop-off before heading to lively downtown.

From here follow the I-5 along the coast to Laguna Beach, a well-known destination for beachgoers and adventurers. The fairly easily route then continues past several beautiful beaches and look-out points before arriving in San Diego.

Incredible colors of sunset by Huntington Beach Pier, in the famous surf city in California

Best places to stop between Milwaukee, Wisconsin and California

Both the great routes we suggest from Milwaukee, Wisconsin, to California are packed with plenty to see and do.

As there are so many unforgettable places to visit, we recommend staying a little longer to enjoy these fabulous places at a more leisurely pace.

Enjoy the great views of Mile High City

On the San Francisco Route we suggest a stop off in Denver, around halfway into the journey . Known as Mile High City, this fact is celebrated across the city on placards, monuments and even stadiums.

Take a visit to Confluence Park, a beautiful urban retreat from the city hustle and bustle. Lounge along the waterfront for people watching and lunching.

No visit to Denver is complete without heading to Red Rocks Park. An impressive park and amphitheater. Make sure to catch a concert for the ultimate experience.

A baseball fan? Then you can't miss the chance to visit Coors Field, surrounded by incredible views of the Colorado mountain range. It's so beautiful it is hard to keep your concentration on the game.

Historic Red Rocks Amphitheater near Denver, Colorado

If you are ready for a rest after all that entertainment then there is no better place to head than Clayton Hotel & Members Club , a hotel in the heart of all the action.

Modern and stylish, this abode has incredible views across the city from the luxury of the rooftop terrace. Or how about a dip in the outdoor pool, the ultimate indulgence.

Enjoy a terrific breakfast, including à la carte, continental and American options, before heading on a short walk to many pretty parks close by including City of Karmiel Park, Denver Botanic Gardens and James N. Manley Park.

Other popular attractions also a short distance away are Colorado History Museum, Denver Museum of Nature and Science and Denver Zoo.

READ MORE - Click here for more great hotel options

Go Ooh-La-La for LA

Located around three-quarters of the way along the road trip, a stop off at this popular, star studded, gorgeous resort will leave a lasting impression.

Known for its A-List celebrities and beautiful beaches, there are so many renowned sights to visit here, so start with a full day tour visiting iconic sights such as the Hollywood sign, Venice Beach and Beverly Hills.

For the best views then head to Griffith Observatory which showcases Los Angeles Basin. Evening events to star gaze are particularly popular.

Fancy a change of pace with some thrills and spills? Then Universal Studios Hollywood is the place to go. Don't miss the new Super Nintendo World.

Now head for a lie-down at the Pendry West Hollywood , a 5-star hotel that has everything you could need and more. Feel like a celebrity lounging on the stunning outdoor terrace, or relaxing in the rooftop pool.

Rodeo Drive under a shining sun, Beverly Hills. California, USA

Enjoy evening cocktails on the terrace, before dining in one of four delicious restaurants with Asian and Mediterranean cuisine.

A delicious breakfast each morning will kick off your day in style, before you head to one of the top attractions close by including Hollywood Museum, Los Angeles County Museum of Art or Fuller Park.

Where to stay when you reach San Francisco

If you're heading on from LA for beautiful San Fran, we suggest you stay at the 5-star Hotel Nikko San Francisco . You won't be disappointed. As well as its stunning interior there is a beautiful terrace and fabulous bar on-site for happy hour drinks.

An upscale restaurant on the property serves delicious American and Japanese cuisines.

Located in the center of San Francisco at Union Square, it is close to many attractions such as San Francisco Hall and Oracle Park.

Where to stay when you reach San Diego

A fabulous hotel in the center of San Diego, the Moxy San Diego Gaslamp Quarter is the perfect base for exploring if you are taking the route southwards from LA.

The hotel has beautiful modern décor that brings a touch of class and style to your stay, with lovely lounge to enjoy a delicious à la carte, American or vegetarian breakfast.

Super close to many of the top attractions including San Diego Aerospace Museum, Maritime Museum of San Diego and San Diego Zoo, and plenty of beautiful beaches just a short drive.

Head to the state of art wellness center on-site after all that sightseeing to unwind after a busy day.

Things to see on a road trip from Milwaukee, Wisconsin to California

Both routes between Milwaukee, Wisconsin, and California are packed with beautiful landscapes, mountains and cities on this diverse American road trip.

Carry on reading to find some of the best things to see and do along the way!

Las Vegas, Nevada, USA at the Welcome to Las Vegas Sign at dusk.

Both Routes

  • Des Moines - Head to Iowa's capital and enjoy a tour around the State Capitol building, a prominent landmark in the city.
  • Omaha - Learn more about Old West with an informative visit to Durham Museum. Afterwards stroll around the Old Market historic district.
  • Denver - A sports fan? Take a trip to Coors Field to enjoy a baseball game surrounded by the beauty of the Colorado mountains. With such a view it will be hard to keep your mind on the game.
  • White River National Forest, CO - If you want to take advantage of the ski season during your visit, then the Colorado Rocky Mountains offers everything you could want and more.
  • Moab - Take a detour to Moab, a gateway for visiting memorable Arches and Canyonlands National Parks. Arches with its famous red rock landscapes, and Canyonlands spanning four districts. Both National Parks are stunning and definitely worth the extra driving time.
  • Dixie National Forest, UT - This park lies between the Great Basin and Colorado River, and covers two-million acres. There are so many hikes here to take to explore this incredible forest.
  • Zion National Park, UT - A visit to the Temple of Sinawava at Zion National Park gives a different view of the National Park, packed with stunning waterfalls and pretty gardens. If you'd like to hike up to Angels Landing, you will need a permit and will need to make a reservation. Check the Zion National Park's website for more details.
  • Las Vegas - Known as Sin City, this bucket-list destination will certainly leave a lasting impression. Make sure to head to the strip to wander the illuminated streets taking everything in.
  • Mojave National Reserve, CA - This desert landscape has archaeological remains from 10,000 years ago. It is also packed with the wildlife of today, but keep an eye out for mountain lions that roam here.
  • San Bernardino - A vibrant and interesting area, there are many museums to enjoy a visit to – why not visit the unusual Original McDonalds Site and Museum? A visit for any burger fan!
  • Mount San Antonio, LA - Mount San Antonio is found between San Gabriel Mountains and Angeles National Forest, and is the highest point in the area. Great for hiking, skiing, or viewing waterfalls.
  • Los Angeles - Known as La La Land and Tinseltown you may well spot a celebrity or two in this cultural capital. Make sure to take a picture with the iconic Hollywood sign before driving the length of Rodeo Drive.
  • Palisades Park - One of Santa Monica's most popular coastline attractions, this pretty park has some of the best views of the mountains and oceans around – the perfect spot to unwind.
  • Old Mission Santa Barbara - Take a self-guided tour around this incredible church set over 15 acres to learn more about its history.
  • Big Sur - A 90 mile expanse of road between Carmel and San Simeon. There are plenty of look-out spots on the way to enjoy stunning views.
  • Monterey - Make sure to head to Monterey Bay. A visit on boat tour whale watching is a highlight!
  • San Jose Santana Row - A popular spot for dining, shopping and entertainment, this area is teeming with things to do, from daytime strolling, to evening movie watching.

A humpback whale breaches out of the water in Monterey Bay, California.

  • Huntington Beach Pier - Head to this popular spot for some of the best waterfront views, especially as the sun goes down, before going downtown where the city comes alive at sundown.
  • Laguna Beach - A well-known destination for beach-goers and adventurers, Laguna Beach is teeming with things to do. There are art installations scattered throughout this pretty city, where the iconic ‘Whaling Wall' is a must-see.

Laguna Beach lifeguard tower in sunset light

Best time to go on a road trip from Milwaukee, Wisconsin to California

California is a good all-year round destination, with sunny weather pretty much guaranteed whatever the season. Temperatures can be around 75 degrees to 80 degrees Fahrenheit in the warmer months, and along the coast the temperatures are generally pleasurable whenever you choose to travel.

However, more inland temperatures can get hotter during peak summer, so prepare well for your road trip by taking plenty of water and refreshments in the car.

Outside of peak summer, spring is a beautiful time to visit when the weather is warming up and the landscapes are starting to flourish. Fall also offers warm to temperate weather. This is a great time to visit the national parks where the weather is nice and warm but it is not as crowded.

Even in the winter months temperatures can range between 60s- and 70s-degrees Fahrenheit in California. Just watch out for some cities inland like Denver which can get especially cold over winter with snow likely. It's always worth checking road conditions before setting off. And packing lots of layers!

There are plenty of events and festivals throughout the year in California, dotted across the state. Golden Gate Park in San Francisco was recently voted “Best Festival Site” with various shows celebrating arts and music year-round.

Classic view of historic traditional Cable Cars riding on famous California Street in morning light at sunrise with retro vintage style cross processing filter effect, San Francisco, California, USA

Key events including Dia de los Muertos in late October and Cinco De Mayo celebrations in May are in recognition of the large Mexican American population.

Pride Parade & Celebration is one of the largest Pride festivals in the world held in June, packed with performances, floats and amazing costumes – not to be missed!

In San Diego there are several key events too, including Restaurant Week at the start of the year celebrating local food and wines. Nearly 200 restaurants take part in the delicious showcase.

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Fall rushes in to Colorado in the form of snow and frost at sunrise along Kebler Pass in Crested Butte as East Beckwith Mountain is covered in a fresh dusting.

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  • All Michigan

13 easy out-of-state road trips Michiganders should take this summer

  • Updated: Mar. 01, 2021, 9:27 a.m. |
  • Published: Mar. 30, 2018, 8:20 a.m.
  • Jessica Shepherd | [email protected]

short road trips from milwaukee

Photo by Cory Morse | MLive.com

No, it isn't summer yet, but why not start planning some day trips and weekend retreats? If nothing else, it's nice to daydream.

Not every summer vacation has to be complicated. You could just get in the car and drive a few hours to an out-of-state destination full of summer fun. Who doesn't love a road trip?

Here are 13 ideas for easy trips to take this summer (or maybe this spring, if you're feeling antsy).

Cedar Point

Where : 1 Cedar Point Drive, Sandusky, Ohio

Overview : Cedar Point is the ultimate theme park for those who love rollercoasters. You can also see some shows and enjoy the beach but Cedar Point is most appreciated by the true thrill-seeker.

Highlights :  When Steel Vengeance opens on May 5, 2018, it's going to be the tallest, fastest and longest steel/wood hybrid coaster in the world. Check out what else is new at Cedar Point this year .

Travel time from Ann Arbor : Roughly 2 hours

More info :  cedarpoint.com

Stratford Festival

Where : Stratford, Ontario, Canada

Overview : This renowned festival began in the 1950s as a way to celebrate the works of William Shakespeare. Over the years, the festival has expanded to include other theatrical works alongside the classic Shakespeare plays.

Highlights : This year, shows include Shakespeare's "The Tempest" and "Julius Caesar," as well as other offerings like "The Music Man" and "The Rocky Horror Picture Show."

Travel time from Port Huron : Less than 2 hours

More info :  stratfordfestival.ca

Shipshewana, Indiana

Overview : The town, just south of the Michigan border, is rich with Amish and Mennonite culture and is a hit with tourists.

Highlights : Don't forget to bring your wallet because Shipshewana is known for its auctions, shops and flea market. If you want to give your pocketbook a break, check out the area's theaters, museums and parks.

Travel time from Kalamazoo : Roughly an hour

More info :  shipshewana.com

short road trips from milwaukee

Photo by Joel Bissell | MLive.com

Milwaukee, Wisconsin

How to get there : Your car and then a huge ferry that lets you cross the beautiful body of water known as Lake Michigan

Overview : Take a trip to Milwaukee. Yeah, you could drive around Lake Michigan to get there but wouldn't it be more fun to drive your car onto a ferry and take a break from road travel while you enjoy the view?

Highlights : The ferry ride is a highlight but there is also plenty to look forward to once it is over. Milwaukee offers culture, nightlife, sporting events and more.

Travel time from Muskegon : The ferry ride from Muskegon to Milwaukee is two-and-a-half hours

More info :  lake-express.com

short road trips from milwaukee

Photo by Mickey Ciokajlo | MLive.com

3 Floyds Brewing Co.

Where : 9750 Indiana Parkway, Munster, Indiana 46321

Overview : Do you consider yourself a beer aficionado? Have you tried the offerings of 3 Floyds? All the offerings? You had better get to Munster fast, if your answer is "no."

Highlights : The ultimate highlight is what many dub as the world's most wanted beer -- 3 Floyds Dark Lord Russian Imperial Stout. May 19 is Dark Lord Day at the brewery. It is the only day of the year that the special stout is available and you have to buy a ticket to get it.

Travel time from Battle Creek : A little more than 2 hours

More info :  3floyds.com

short road trips from milwaukee

Photo by Jessica Shepherd | MLive.com

Pittsburgh, Pennsylvania

Overview : There are so many amazing things going on in Pittsburgh. Uniquely located at the convergence of three rivers, Pittsburgh is a low maintenance big city. Wear a flannel and drink an Iron City straight from the can. You don't need to sacrifice comfort here.

Highlights : The views are amazing and getting to the top of the hill is half the fun. If you head to Pittsburgh, you have to take a ride up Mount Washington on the Duquesne Incline or the Monongahela Incline. Once at the top, grab a drink or a bite from an eatery overlooking the city.

Distance from Detroit : Nearly 4-and-a-half hours

More info :  duquesneincline.org

Indianapolis Motor Speedway

Where : 4790 West 16th Street, Indianapolis, IN 46222

Overview : Whether watching a race, visiting the museum or taking your turn driving around the track, this is the place for any racing fan.

Highlights : Indianapolis 500, Brickyard Vintage Racing Invitational, Grand Prix and more

Travel time from Grand Rapids : Roughly 4 hours

More info :  indianapolismotorspeedway.com

Wisconsin Dells

Where : Central Wisconsin

Overview : This is the ultimate place to take a family. That is, if your family likes to have fun.

Highlights : The waterparks are the big highlight, considering Wisconsin Dells calls itself the "Waterpark Capital of the World." There are also other amusement parks and gaming to keep the family entertained.

Travel time from Kalamazoo : Roughly 4-and-a-half hours

More info :  wisdells.com

Put-in-Bay, Ohio

Where : South Bass Island, Ohio

Overview : Put-in-Bay is a destination for those who like to let loose. When the weather is warm, area residents flock to the outdoor party destination.

Highlights : The world's longest bar, beautiful water, fellow party animals and lots and lots of golf carts

Distance from Flint : Roughly 2-and-a-half hours by car to Port Clinton, plus a short ferry ride

More info :  visitputinbay.org

The Bruce Grey Simcoe Region

Where : Ontario, Canada

Overview : A large region of Ontario that offers the best of the great outdoors.

Highlights : Kayaking, fishing, golfing, hiking, horse riding, cycling, camping, swimming, waterfalls and so much more

Distance from Port Huron : Between 2 and 4 hours, depending on which part of the region you visit

More info :  brucegreysimcoe.com

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Hocking Hills State Park

Where : About 50 miles southeast of Columbus, Ohio

Overview : You can explore the caves, gorges, waterfalls and other natural wonders by traveling to this state park nestled in southeast Ohio.

Highlights : Hiking, fishing, canoe rides, horseback riding, ziplining, rock climbing and more

Travel time from Ann Arbor : Roughly 4 hours

More info :  hockinghills.com

short road trips from milwaukee

Photo by Mark Tower | MLive.com

Niagara Falls

Where : In Niagara Falls, New York and Niagara Falls, Ontario

Overview : This is a popular spot for honeymooners and other couples. It is just a romantic place.

Highlights : The falls are the big highlight, obviously. Take the Maid of the Mist boat tour to get a closer look.

Distance from Port Huron : Roughly 3 hours

More info :  niagara-usa.com

short road trips from milwaukee

Chicago! Chi Town! The Windy City!

Where : You know where it is.

Overview : It's the third largest city in the U.S. There is so much to do. Whether you go alone, bring your friends, you family or your significant other, you will find plenty of entertainment.

Highlights : Do it all! Eat the pizza, visit Wrigleyville, tour the Art Institute of Chicago, take your picture at Cloud Gate (also known as the bean), see a show at Second City, say "hello" to the animals at Shedd Aquarium. Seriously, do everything you can do in Chicago. DO. IT. ALL.

Distance from Battle Creek : Less than 3 hours

More info :  choosechicago.com

short road trips from milwaukee

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The most beautiful place in each of Michigan's 83 counties

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Damian Lillard and Bobby Portis help Bucks stay hot since all-star break with destruction of Hornets

short road trips from milwaukee

The Milwaukee Bucks look like a different team since the NBA all-star break.

The Bucks were especially stingy on defense and efficient on offense in a 123-85 destruction of the Charlotte Hornets on Tuesday at Fiserv Forum.

Milwaukee (38-21) is 3-0 since the break. That ugly loss to the short-handed Memphis Grizzlies on Feb. 15 has been left in the rear-view mirror.

BOX SCORE : Bucks 123, Hornets 85

"I just think it was coming," Bucks head coach Doc Rivers said. "I think health is the biggest difference.

"Everybody's playing other than Khris (Middleton). I think that's one. I think our guys understand since the break we don't have a lot of time. And so we have to get to it and our guys are starting to do that."

Milwaukee has dominated the Hornets (15-43) this season. The Bucks’ previous largest margin of victory this season came on Feb. 9 when they beat Charlotte, 120-84. Milwaukee also won at Charlotte, 130-99, on Nov. 17.

The teams meet again in Charlotte on Thursday.

Giannis Antetokounmpo praises the Bucks' effort

Giannis Antetokounmpo was discouraged after that loss to the Grizzlies before the break, questioning his team's effort and saying "we have to want it."

Antetokounmpo was much more upbeat sitting at his locker after beating the Hornets.

"I think we had time, six or seven days, to kind of think," Antetokounmpo said. "What this coaching staff and what the team expects from us.

"Coming back from the break, we had the opportunity to talk about everybody's role. And what the team expects from us. So keeping everyone accountable. I got to play better defense. I got to attack more. I got to share the ball more.

"BP (Bobby Portis) got to be aggressive. You got to play better pick-and-role defense. You got to shoot the ball more. Everybody has their own role. So we got to keep everyone accountable throughout the 23 left games. Mentally, obviously, we were able to rest, take a break and also physically. It's been a hard season for all of us. But now we're back and we're got to keep better."

Antetokounmpo finished with 24 points and eight rebounds. He didn't have to play in the fourth quarter, another plus given the Bucks play three games in four days.

Bobby Portis has another strong effort

First, Damian Lillard was hot with 14 points in the first quarter. He finished with 23 and also didn't play in the fourth quarter.

Then, Portis scored 12 in the second as the Bucks opened up a 58-26 lead at the break.

Portis finished with 21 points. He has scored in double figures in eight straight games.

"I think guys on this team are starting to figure it out," Portis said. "It's not about how many points you score or how many shots you shoot.

"We're just trying to get wins and change the narrative for everybody talking. All the outside noise."

Bucks' defense continues to look much improved

The biggest change in the narrative with the Bucks is on the defensive end. The Bucks have held back-to-back opponents under 100 points.

"I think it starts with our transition," Rivers said. "Just not giving up a lot of easy baskets.

"And once we take those away, playing against our set, half-court defense with our length has worked out really well for us."

The Hornets went scoreless for almost eight minutes in the second quarter.

"I thought we were very physical," Rivers said. "I thought our hands were active.

"Our deflections over the last four or five games have just skyrocketed. We talked about it, like, how don't we have a lot of deflections? We're fast, we're long, we should get our fingertips on a lot of balls."

The 26 points were the second-fewest allowed by the Bucks in the first half in team history. Milwaukee gave up 25 to Philadelphia on March 3, 1972.

"This is who we are," Antetokounmpo said. "This is who we're trying to be.

"In the second half, I think in the late third quarter or maybe early fourth quarter, there was a play that somebody drove all the way right and everybody on the bench was up, we were up 45 points and we were upset. Like, that's not what we do.

"That means as a team we're building those good habits. We got to make everything tough. It doesn't matter who we are playing, they got to get tough buckets against us."

Five numbers

2 Brook Lopez’s rank in Bucks history for blocked shots. With his first swat of the night against the Hornets, Lopez passed Alton Lister for No. 2 behind Giannis Antetokounmpo. Lopez now has 806career blocks as a member of the Bucks. Antetokounmpo broke Lister’s record in 2021. Lister had set the record in 1985-86 and recorded 804 blocks in 471 games.

26 Points scored by the Hornets in the first half, the lowest scored by a team in the NBA this season

5  Games the Bucks have held an opponent under 110 points since Doc Rivers took over as coach on Jan. 29. The team did it just five times before then.

8 Straight games scoring in double figures for Portis. He had nine straight games with double figures from Nov. 6-20.

121.8 Points the Bucks are averaging this season, a franchise high

When will Khris Middleton play?

Middleton sat out his eighth straight game with a sprained left ankle.

Rivers didn't know if Middleton would make the Bucks' two-game road trip to Charlotte and Chicago.

"If he goes, we think he may play," Rivers said. "I think it's that close. We got to be very careful with it."

Paulina on the road

Hiking In Milwaukee: Top 15 Milwaukee Hikes

By Author Paulina

Posted on Published: April 29, 2023  - Last updated: May 3, 2023

Pin with image of a wooden boardwalk in a forest with two diverging paths, text above image reads: 15 fun hikes around Milwaukee, Wisconsin

Guide to the best hiking trails Milwaukee has to offer, including the Milwaukee River trail and amazing hiking trails near Milwaukee

Hiking is a great way to make the most out of the great outdoors if you really want to connect to nature, hiking in Milwaukee opens a world of opportunities for young and old.

This stunning area of Wisconsin is covered in breathtaking scenery with new places to discover every time you visit.

Where to go hiking in Milwaukee, Aerial view of tall skyscrapers in various shapes sitting among areas of green grass with the coast and the sea visible behind

If you’re looking for a bit of adventure, Milwaukee and the surrounding areas have something for everyone.

You’ll find every from easy, family-friendly trails to challenging ones for those who want to test themselves against nature.

I have put together all my favorite Milwaukee trails and hikes near Milwaukee for you to enjoy on your next day out in the city.

You, dear reader, support this blog. When you purchase through a link, I may earn a small commission. As an Amazon Affiliate, I earn from qualifying purchases.

Table of Contents

Top resources to travel Wisconsin

✎ Plan the ultimate Wisconsin road trip (no backtracking!) with the Perfect Wisconsin Road Trip itinerary – Buy now for less than 12$ ✈ Find the best hotel deals in Wisconsin with Trivago ➳ Book vacation rentals in Wisconsin with  VRBO ✔ Book tours in Wisconsin with Viator ☘ Get the best discounted outdoor gear (outlet) at REI.com $ Get Wisconsin hiking guides and maps at REI.com

Overview: The Top 5 Places to go Hiking in Milwaukee

  • Milwaukee River Trail
  • Seven Bridges Trail
  • Monches Segment of the Ice Age National Scenic Trail
  • Hank Aaron State Trail

1. Seven Bridges Trail

Outdoor activities in Milwaukee, wooden bridge in the forest connecting the seven bridges hiking trail

Length: 2 miles

Difficulty: Easy

Enjoy the fall colors in Wisconsin with a leisurely hike on the Seven Bridges Trail – one of the best things to do in Milwaukee in October .

This is one of the easier Milwaukee hiking trails, making it a fun family-friendly excursion.

I was able to easily complete the hike in about an hour but the views are so stunning that time seems to stand still. With that in mind, don’t feel like you need to rush.

Set out and gaze in awe at the stunning views; the trail is set along the tranquil shores of Lake Michigan with several brooks and enormous beech trees.

Your hike will begin at the Covered Bridge Entrance off of Lake Drive and it will take you through magnificent trees.

The trail features Lannon stone paths and footbridges which will give you the impression that you have vanished from civilization but you’re still surprisingly close to the city.

As you walk along the trail, revel in the best nature has to offer as this path is a must for weekend trips in Wisconsin.

Book here the best cabin rentals in Milwaukee

2. Hank Aaron State Trail

best hikes in Milwaukee, Shot of large bridge over a river with the bright sun shining behind it on a mostly clear day

Length: 6.7 miles

If you’re looking for things to do in Milwaukee with the kids , take them on a hike through the Hank Aaron State Trail.

This trail is perfect in any weather which makes it appealing to lovers of hiking, biking, and cross-country skiing.

It takes about 2 hours to hike this trail, even with all the stops I took to take in and enjoy the scenery.

Dogs are also welcome on this trail – but they must be on a leash – and my dog had a great time hiking it with me.

The landscape is stunning with a mix of natural beauty and the gorgeous visage of West Milwaukee.

This is one of the best walking trails Milwaukee has to offer and there is plenty to do and see while you explore this side of the city.

Buy here the best trail maps of Wisconsin

3. Green Tree Loop at the Schlitz Audubon Nature Center

the best hiking in Milwaukee, View of many lilypads sitting floating on the still waters of a lake

Length: 6 miles

The Green Tree Loop at the Schlitz Audubon Nature Center offers hikers spectacular views all year round and is one of the best hiking trails in Wisconsin .

This trail combines a series of different trails and all of them are relatively flat which makes them easy to hike.

The Green Tree Loop is part of the Schlitz Audubon Nature Center which is North of Milwaukee.

What sets this Milwaukee hiking trail apart is that this offers varying landscapes which can change from treelined paths to fields full of wildflowers.

There is also an observation tower looking out over the preserve and a spectacular view of Lake Michigan.

The trail ends at the Mystery Lake Boardwalk where you’ll become acquainted with some of the local wildlife.

The Green Tree Loop trails are family-friendly and are perfect if you’re visiting and looking for things to do in Milwaukee with kids .

I recommend turning the hike into a game by getting the kids to spot as many different flowers, birds, and other wildlife.

Book here the best Milwaukee sightseeing tours

4. Lapham Peak State Park

Best hiking near Milwaukee Wisconsin, View looking down an outdoor flight of wooden steps set into the side of a hill all covered in fallen autumn leaves with green trees and shrubs either side

Length: 17 miles of trails

Difficulty: Easy to moderate

Whether you’re a seasoned hiker or new to this fabulous activity, the trails at Lapham Peak State Park have something for everyone.

There are 17 miles of trails so you can take one of the shorter, easier ones if you just want a quick hike, or you can combine a few trails and really put your hiking skills to the test.

I’ve managed to tackle a few of the shorter trails and am working my way toward combining some of the more challenging ones as well.

The trails at Lapham Peak State Park also feature a 45-foot observation tower in Waukesha County and at 1233 feet above sea level, the views are definitely worth the hike.

You can enjoy some of the best hiking in Milwaukee but don’t forget to pack lunch because Lapham Peak also has some gorgeous picnic areas.

So you can take the time to eat in absolute tranquility while you replenish your energy reserves.

You can also take a stroll through the nature center and just enjoy getting away from the hustle and bustle of the city.

Whichever path you choose for your hike, you’ll quickly fall in love with hiking in Milwaukee on trails like Lapham Peak.

Those looking for fun outdoor activities in Milwaukee will love spending the day hiking through Lapham Peak State Park.

Buy here the ultimate Wisconsin road trip itinerary

5. Milwaukee River Trail

amazing hikes in Milwaukee, view of Milwaukee skyline lit up at night, just after sunset

Length: 7.8 miles

If you’re looking for a refreshing and invigorating way to spend your weekend in Milwaukee, look no further than the Milwaukee River Trail, also known as the Milwaukee River Greenway.

This beautiful trail spans 878 acres and is some of the best hiking trails in Milwaukee as it offers breathtaking natural scenery and the opportunity to stretch your legs and get moving.

The hike is suitable for all fitness levels and can be completed in around 2-3 hours, covering roughly 6 miles in total.

The starting point is located just north of Milwaukee and is easily accessible by bike, public transportation, or car.

As it’s an easy (and very scenic hike), the Milwaukee River Greenway is a lovely option when looking for things to do in Milwaukee with kids .

If you don’t want to drive far to start hiking near Milwaukee, the Milwaukee River Trail is one of the best options.

Book here an RV rental in Milwaukee, WI

6. County Grounds Park Loop

top hiking trails in Milwaukee Wisconsin, forest path covered in fall leaves

Length: 3.6 miles

If you’re looking for unique things to do in Milwaukee , get your family or friends together for an afternoon of hiking in the County Grounds Park Loop.

The best outings in nature are the ones that give you options and this hiking trail has some of the most spectacular views of Wisconsin as well as being home to birds, butterflies, and other wildlife.

Bird watchers love this neck of the woods and if you love taking photos, hit the trails at a leisurely pace so you can admire the landscape firsthand and capture the images you never want to forget.

The trails at County Grounds Park Loop are relatively easy to hike and this makes them appealing to families with kids and it has also become a popular spot for school excursions.

The almost decadent surroundings feature an old-growth forest in Sanctuary Woods and you might even get lucky and spot one of the endangered species that call the woods their home.

For those of us with extra time on our hands, you can even make the most of your hikes and become a volunteer.

Your contribution of time will help preserve this gorgeous corner of the earth and you’ll be able to discover something new in this area as the seasons change.

7. Monches Segment of the Ice Age National Scenic Trail

best hikes near Milwaukee, Neatly arranged raised wooden path leading through some dense forest with tall trees flanking the path at various points and vibrant green foliage covering the ground around the bridge

Length: 3.7 miles

If you want to do more than just go hiking, add the Monches Segment of the Ice Age National Scenic Trail to your list of Wisconsin vacation ideas .

This is a trail that has to be experienced, especially in the fall when the views are spectacular.

This is a relatively easy trail consisting of 3.7 miles of level footpaths in the north of Waukesha County.

Most of the trail is very level but you’ll need a little extra effort in some areas.

Follow the trails along the Oconomowoc River with breathtaking views of crystal clear water and small brooks trickling along among ancient trees.

If you want to get more out of your weekend trips in Wisconsin , this area is sure to please.

It’s a great place for backpackers to explore and there are also places you can pitch a tent and experience this scenic trail under the stars.

8. Bender Park

fun hiking trails near Milwaukee, View looking down a low stream as it winds its way over many small rocks through dense green forest

Trek into the trails of Bender Park and you’ll quickly forget that the city is right behind you.

This collection of 3 trails is popular with locals but once discovered by visitors, they often find any excuse to come back again and again.

The trails are a hidden secret that begs to be explored so if you’re looking to escape to nature, this is the place to do that.

While you pull on your hiking boots to explore Milwaukee’s surroundings, bike trails are also a big hit for those that love to power through at a faster pace.

These trails are quite easy with only slight gains in elevation along the way.

Best of all, when the weather is warmer you can take a dip at a small swimming beach and take a stroll at the pier.

Overall, when it comes to Milwaukee hikes, you can’t overlook all the marvels at Bender Park.

9. Riveredge Nature Center

top walking trails Milwaukee offers, Close up shot of the back of someone's leg as they walk along a wooden path wearing low sneakers and three-quarter-length jeans

Length: 10 miles

The Riveredge Nature Center is open daily from early morning until nightfall but you might want to check out the visitor center hours to avoid disappointment.

There are 10 miles of some of the best hiking Milwaukee offers for you to explore within the 379 acres of land in this natural sanctuary.

Although there are a lot of trails to cover, it’s a relatively easy hike that is ideal for beginners as well as families with kids.

Harsh winters may be a nuisance to some but when this landscape is covered in snow, rug up and get outdoors.

Explore the many wonders including a stretch of trail along the Milwaukee River, stunning woods, and more.

Take advantage of these hiking trails in any season and if you’re looking for things to do in Milwaukee in winter , Riveredge Nature Center is the perfect escape.

10. Milwaukee Lakefront – Veterans Park

Where to find the best Milwaukee hiking, View looking across a wide open field of green grass populated by many wandering geese with a backdrop of differently shaped skyscrapers all under a bright cloudy sky

Length: 3.1 miles

To enjoy some of the best hiking in Milwaukee, you don’t actually need to leave the city.

Take a scenic stroll along Milwaukee’s Lakefront Trail and combine a hike along the waterfront and still keep the city skyline within your sights.

One of my favorite things about this Milwaukee trail is getting to enjoy the contrast between nature and the city.

The path runs along Lake Michigan with some popular Milwaukee sites such as the McKinley Marina, Veteran’s Park, and the University of Wisconsin.

Hiking along the Milwaukee Lakefront is popular all year round but you’ll most likely see more people on the trails in the warmer months.

This is when the trail is frequented by people on wheels either riding their bikes or going for a jog.

You can also rent bikes in town and cycle around and really take in the scenery.

Romantic getaways in Wisconsin are quite popular with lovers holding hands while they explore the city from the tranquility of Milwaukee Lakefront.

There are plenty of places to stop along the way and you can also enjoy some great coffee or stop for a bite to eat.

11. Havenwoods State Forest

best hiking in Milwaukee Wisconsin, curved path amidst fall trees

Length: 9.3 miles

To enjoy the best hikes in Milwaukee, you don’t even need to leave the city!

Havenwoods State Forest is situated in the heart of Milwaukee and boasts an impressive 237 acres of stunning forest.

The trail is mostly flat with a few gentle inclines which make the trail perfect for hiking.

It is also hugely popular with cyclists and one of few Milwaukee bike trails that allow you to combine the best of being in the city while also experiencing the best that nature has to offer.

Havenwoods State Forest has quite an interesting and long history.

In its early days, it housed the Milwaukee County House of Corrections and was also a US Army base before being transformed into Wisconsin’s only urban state forest.

You can also take a stroll through the gardens and the arboretum just a jump from the Nature Center and with ample parking, getting to the trails is easy.

Take your time when you arrive here as Havenwoods offers some of the best hiking in Milwaukee.

Pack a picnic lunch, cross over Lincoln Creek, and sit back watching the clouds roll overhead, or keep an eye out for some of the local wildlife that might venture out.

12. Holy Hill

hiking trails near Milwaukee Wisconsin, Holy Hill National Shrine of Mary

Length: 7 miles

When searching for Southern Wisconsin hiking trails , you can’t overlook the beauty and charm of Holy Hill.

This is one of the best hiking trails near Milwaukee, WI, and is part of the Ice Age National Trail.

The trail leads through the hilly terrain through thick forest and leads to the twin towers of the Basilica of the National Shrine of Mary at Holy Hill .

This beautiful neo-Romanesque church is perched right on top of the hill giving it an almost ethereal feel and it’s visible from several counties making it hard to miss.

This hiking trail poses no obstacles but as the terrain is hilly, it does offer a bit of a challenge.

Once you get to the summit of Holy Hill, be sure to climb to the top of the tower for some of the most majestic views in Wisconsin.

The views are popular all year but they are at their most grandiose in the fall when the leaves of the forest transform into a burst of golden color.

There is plenty to see and do on the Holy Hill trail and I am sure that everyone will build up an appetite during the hike and then you can treat yourself to a bite to eat at the snack shop right off the parking lot.

This is one of those perfect day trips from Milwaukee for locals and tourists and certainly not one you want to miss.

13. Scout Lake

best hikes around Milwaukee, hiking path through forest covered in fallen leaves surrounded by trees with sun poking through

Length: 1.67 miles

Weekend trips in Wisconsin offer the perfect opportunity to take kids out to explore the great outdoors and you can put Scout Lake on the list as one of the best hikes in Milwaukee for families.

The trail consists of a 1.67-mile loop near Greendale, which I found quite easy to walk, as most of the trail is paved.

Bring out the strollers and enjoy the lake with lots of beautiful vegetation and an impressive array of local wildlife.

You can also bring the family dog for a walk but do keep in mind that dogs must be on a leash to protect the local fauna.

Whether you’re out for a run or a leisurely afternoon walk, Scout Lake is the perfect place to spend a lazy afternoon.

The trail takes a little over half an hour to complete and when the walking is done, you can sit back and relax while the kids go wild on the playground there.

14. Nashotah Park

Fun Milwaukee trails, Shot of an empty lone part bench sitting in the middle of a green field with brown fallen leaves all around and some trees in the background

Nashotah Park is the place to go if you’re looking for hiking trails near Milwaukee.

The trail consists of 7 miles that lead through the stunning landscape within the 444 acres that make up Nashotah Park.

The park is home to many different species of songbirds, waterfowl, and other feathered creatures.

If you’re lucky you might even be able to spot deer in the grasslands while hiking this trail.

The trails offer an easy hike through the park with a few gentle hills and a natural lake system.

The landscape in this area is most likely the result of the shifting of a glacier more than 10 millennia ago.

When you’ve completed the trail at Nashotah Park, head back to the city for some hiking in Milwaukee or simply sit back in one of the city’s many cafes or restaurants.

15. Mequon Nature Preserve

best hiking near Milwaukee, View looking across the top of a wooden bridge with green trees and grass visible on the opposite side under a blue sky with clouds

Length: 5 miles

A short drive from the city will bring you to some of the best hiking near Milwaukee, WI, and into the 444 acres that make up Mequon Nature Preserve.

There’s lots to see and do at the Preserve and you can head out on a new adventure every time by parking at one of the three different parking lots.

Each parking lot has its own access to the trail so this is a hike you can enjoy more often without it becoming boring.

Add four very different seasons to the area and you’ll be in awe at the changing visage before you with each visit.

Mequon Nature Preserve includes an observation tower near the parking lot on Swan Road and from here you’ll also get to see Pat’s Pond with its stunning boarded walkways.

If it’s wildlife you want to see, park the car at the Pieper Power Education Center and once you reach the Streich Family Wetlands, you’ll find the Observation Platform.

From here you can view the majestic landscape and hopefully spot some of the local critters.

  Why Hiking In Milwaukee Is A Must

Our modern lives have resulted in many of us, leading very sedentary lives.

So heading out for some hiking in Milwaukee will get the family out of the house and give everyone a chance to explore nature.

The exercise will benefit everyone but the reason to check out the Milwaukee trails is important for the environment as well.

While checking out some of the best hikes near Milwaukee, and within the city too, you’ll notice that many places charge a small fee for cars or per person.

By visiting these places you’ll be helping to keep these hiking places popular and, more importantly.

You’ll be contributing to the preservation of these natural wonders for generations to come.

Whether you’re a local to the area or a visitor, hiking in Milwaukee should be on your list of things to do.

Humans have always had an adventurous spirit and exploring new places will never lose its magic and appeal.

Once you navigate your way around your first Milwaukee River trail, you’ll want to explore another and move on to many more hikes near Milwaukee and the surrounding areas.

Pull on your hiking boots and get out there and enjoy one of the best outdoor activities in Wisconsin !

Short FAQs About Hiking in Milwaukee

Does milwaukee have hiking.

There are several trails within the Milwaukee city limits, and quite a bit more just outside of the city and the surrounding area.

Is Milwaukee a walkable city?

Milwaukee is considered to be one of the most walkable cities in the USA, and there are many hiking trails that run through the city.

How long is 7 bridges trail?

The Seven Bridges Trail in Milwaukee, Wisconsin is 2 miles long.

Before You Go: Top Tips for your Trip 

  • You’ll snap tons of photos and I love to take my  GoPro  in order to shoot even in extreme situations. 
  • Make sure to wear comfortable  walking shoes  and  hiking sandals   when traveling to warm countries. Consider trying some of these eco-friendly vegan hiking boots .
  • Sunscreen is key! I always take with me my  eco-friendly sunscreen   by Thinksport.
  • I always carry a  light rain jacket ,  just in case. Pack smart with these organic cotton clothing companies .
  • Be environmentally friendly and get one of these awesome backpacks made from recycled materials .
  • Get in the mindset with these amazing wilderness survival books .
  • Travel insurance is essential! If you haven’t already obtained travel insurance for your trip, travel is protected against all odds with  HeyMondo .

Pin with three images related to hiking, text between images reads: Wisconsin - Guide to hiking trails in Milwaukee

Hola! I’m Paulina, a seasoned travelette who crossed the Atlantic Ocean by Boat HitchHiking. On my blog, find expert insights for an extraordinary holiday through outdoor and sustainable travel like hiking, cycling, and sailing. Let’s embark on unforgettable journeys together! 🌍🚀

IMAGES

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COMMENTS

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