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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

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 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

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

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

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 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

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

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

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

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

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

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 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

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

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

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

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

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

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

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.

Things To See

The soda museum: everything you need to know, how to take a tour of the white house, dig this las vegas: here’s what you need to know, 5 quick reasons to visit the hall of flame museum, 25 amazing things you should see in missouri, 25 amazing small towns in america you need to visit this year (2024), utah’s national parks in winter: how to see all five, top 20 amazing things to do in the midwest, visiting brevard: everything you need to know, search the site:, recent stories, 10 amazing things to do in vegas if you hate gambling, west coast ideas, jeopardy: here’s what really happens during a show taping, this is where you’ll find the first mcdonald’s, 8 cool experiences you need to have in san francisco, how to see pasadena in one day, how to find the first in-n-out burger, how to spend a day in palm springs.

BILL ON THE ROAD | ALL RIGHTS RESERVED 2024

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

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. 

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 pastime 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 farmer’s market on Thursday. 

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

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 in downtown Chicago’s heart. 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 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 many hiking, biking, and canoeing opportunities exist.

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 . This professional repertory theatre company 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. 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 many hiking, biking, and canoeing opportunities exist. 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. Check out The Del Bar or Ishnala if supper clubs are your thing. 

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. If you’re looking for a resort with it all, this is the place for you.

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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

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, suites, and 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 Minute

25 Best Day Trips from Milwaukee

Last Updated By VacationIdea Staff on March 19, 2024

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.

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

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

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

• 2. Appleton
• 3. Aztalan State Park
• 5. Door County
• 6. Fond du Lac
• 7. Fort Atkinson
• 8. Galena, IL
• 9. Green Bay
• 10. Elkhart Lake, Wisconsin
• 11. Harrington Beach State Park
• 12. Kenosha
• 14. Lake Delton
• 15. Lake Geneva
• 16. Manitowoc
• 17. Marshfield
• 18. Mukwonago
• 19. Oshkosh
• 20. Pewaukee Lake
• 21. Platteville
• 22. Port Washington
• 23. Sheboygan
• 24. Two Rivers

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• Milwaukee, Wisconsin

Weekend Getaways From Milwaukee

Travel in Wisconsin or to nearby states for a weekend breather, all within a 200-mile radius of the Brew City.

Shelby Deering is a lifelong Midwesterner residing in Madison, Wisconsin. Her travel features have appeared in publications like USA Today, HGTV Magazine, Country Living, The Pioneer Woman, and Experience Wisconsin, and she has written for the Wisconsin Department of Tourism as well. When she's not writing, you'll find her exploring Madison's (many) trails with her husband and corgi, Dolly, or perusing a flea market.

As Wisconsin's largest city, Milwaukee is home to more than half a million people—plus cool beer culture, festivals and a stellar art scene . But if you're craving a temporary change of pace and scenery, head to these cities and towns in Wisconsin, Iowa and Illinois for lakeside views, charming main streets, enticing restaurants and active adventure. The following destinations are all within 200 miles of the Cream City, making for a quick weekend getaway without tedious hours in the car.

Lake Geneva, Wisconsin—50 miles from Milwaukee

Just 20 minutes from the Illinois border, Lake Geneva's resorts, 19th-century mansions and boutique-filled downtown all contribute to its reputation as an idyllic Midwest lake escape. Geneva Lake is the state's second-largest spring-fed lake and the star of the show. Excursions on Lake Geneva Cruise Line offer a glimpse of the stately Victorian homes ringing its shores. But if you're more of a landlubber, soak up the experience from the water's edge with a hike on part or all of the 21-mile Lake Geneva Shore Path . Or lounge the day away on Riviera Beach , near downtown. Now that you've worked up an appetite, the area offers a vast selection of farm-to-table and down-home eats. Simple focuses on local artisan food producers, while tried-and-true Next Door Pub serves some of the best 'za around.

Green Bay, Wisconsin—120 miles from Milwaukee

Although Green Bay is primarily known for its beloved Green Bay Packers (and you can, and should, take a Lambeau Field Stadium Tour ), there's a whole lot more to this waterside town. Next to the Packers' stadium, the Titletown entertainment district lets visitors play year-round, with restaurants, shopping, a weekly night market and seasonal sledding and ice-skating. Away from the action, explore the grounds of Bay Beach Wildlife Sanctuary , a wooded, 535-acre haven for rehabbed animals like owls and foxes. Down the road, eat cotton candy and ride the mini train at Bay Beach Amusement Park . Or roam 47 glorious acres with 85,000-plus plants from Wisconsin and beyond at Green Bay Botanical Garden .

Baraboo, Wisconsin—120 miles from Milwaukee

While Wisconsin Dells tends to be the big draw in this region, don't overlook the charms of nearby Baraboo. It's where you'll find Devil's Lake State Park , a verdant oasis with over 10,000 acres and 29 miles of hiking trails. Under-the-radar Parfrey's Glen State Natural Area , just 15 minutes from Devil's Lake, treats hikers to grand sandstone boulders and a waterfall. Mirror Lake State Park is a peaceful retreat named after its glassy, calm lake, 3 miles from the Dells. To connect with nature at a slower speed, take a tour of the lavender fields at New Life Lavender and Cherry Farm or pick seasonal fruit to your heart's delight at Ski-Hi Fruit Farm.

Chicago—95 miles from Milwaukee

A small-town escape is always a good time, but it's hard to top a weekend in the Midwest's largest city. Chicago provides near countless ways savor its splendor , from the Chicago Architecture River Cruise to The 606 Trail , a new 2.7-mile multi-use trail and green space. Join an off-season tour of Wrigley Field or shop 'til you drop along The Magnificent Mile . World-class museums like the Museum of Science and Industry and the Art Institute of Chicago beckon locals and visitors with engaging exhibits. The city's boutique hotels, like the Chicago Athletic Association Hotel and The Publishing House , appeal to travelers with their bespoke flair.

Galena, Illinois—170 miles from Milwaukee

With an array of architectural styles from the 1820s on throughout its Historic District , Galena, in northwest Illinois, transports visitors to the past. Learn about its storied buildings and more, and get off your feet, aboard the Galena Trolley . Find 125 brick-clad shops and restaurants along downtown's picturesque main street; peruse Galena Apothecary for natural beauty products and vintage wares, find a new favorite read at Galena Book and Paper or linger over a plate of Nana Lu's meat lasagna at Vinny Vanucchi's Little Italy . To get a bird's eye view of the region, visit Horseshoe Mound where you'll spot three states or zip above the trees with Long Hollow Canopy Tours .

Wausau, Wisconsin—190 miles from Milwaukee

In the heart of Wisconsin, Wausau's popularity has steadily increased over last few years, especially among the adventure and arts set. It's home to Rib Mountain State Park , dotted with striking rock formations that are billions of years old. About five miles north is Granite Peak , a favorite resort among Wisconsinites, featuring 60 trails across 200 skiable acres. If you'd prefer to stay indoors, head to Leigh Yawkey Woodson Art Museum , where wildlife and nature are rendered as exquisite sculptures and vivid oil paintings. Downtown, a robust events calendar draws crowds for festivals and markets year-round. At Wausau's 300 Block, a canopy of vibrant umbrellas hangs overhead (the display makes for a whimsical photo backdrop if your socials need a little pep!).

Dubuque, Iowa—175 miles from Milwaukee

Once a notable maritime hub, Dubuque is now a hub of activity for families and adventurous travelers. The National Mississippi River Museum and Aquarium , a family-friendly riverfront attraction, combines 12 large aquariums and educational exhibits the kiddos will love. To see the beauty of the great outdoors, hike 15 miles of trails in the Mines of Spain State Recreation Area , a 1,432-acre National Historic Landmark just outside of town. Or ride the Fenelon Place Elevator , the world's shortest and steepest railroad cable car, to tri-state views. Downtown Dubuque also features 40 kaleidoscopic murals by local and international artists.

St. Charles, Illinois—110 miles from Milwaukee

St. Charles is a historic hamlet where you can slow your roll and take it all in. The city is particularly famous for its family-operated Kane County Flea Market (open March through December), one of the very best in the Midwest for antique furniture pieces and collectible artwork. After some retail therapy, journey downtown for live music performances and outdoor dining. Or catch a performance at the Arcada Theatre , with a Studio 54-style dance club juxtaposed with a 1920s speakeasy. Cap off the old-school feel of this getaway with a Paddlewheel Riverboat trip on the Fox River.

The 7 best day trips from Milwaukee

Aug 24, 2021 • 7 min read

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.

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

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

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.

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.

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. 

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.

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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Postcard Narrative

The Proof is in the Postcard

7 Fun and Affordable Midwest Road Trips from Wisconsin

Roll down your windows, feel the breeze and prepare for an adventure that’s as vast and varied as the Midwest sky. Welcome to our guide on the best Midwest road trips for families, where every turn uncovers a new surprise – be it a agricultural gem in Wisconsin, a construction loving kids’ dream in Illinois, a wonder filled aquarium in Iowa, a cascading waterfall in Minnesota, a sandy dune in Michigan, a bustling speedway in Indiana, or a majestic arch in Missouri. 

As we journey through these seven states, we’ll discover that the Midwest is not just “fly-over” country. No, my friends, it’s drive-through country! Buckle up, grab your snacks, and let’s hit the road. 

Prepare to experience the charm, beauty, and hidden gems of this remarkable region with our tried and true list of family-friendly Midwest road trips.

Sheboygan to Mackinac Island 

From Sheboygan’s lakeside charm to the timeless allure of Mackinac Island and beyond, this Midwest Road Trip itinerary stitches together several of Wisconsin and Michigan’s top destinations

Wisconsin Stops

The first stop will be in Sheboygan, home to the Bookworm Gardens , a magical, literature-inspired botanical garden where your children’s favorite stories come alive among lush flowers and whimsical sculptures.

As you journey onward, visit Titletown in Green Bay , where kids can scramble up Ariens Hill, conquer three playscapes, play ball on a full size football field and parents can relax with a local brew in hand.

Upper Michigan Stops

As the route carries you into Michigan’s Upper Peninsula, you’ll pass through Escanaba , a quaint harbor town where fresh whitefish is always on the menu. Stop into town for Swedish Pancakes at the Swedish Pantry and walk across the street to pickup some fresh homemade fudge.

Not far from here lies Kitch-iti-kipi , Michigan’s largest natural freshwater spring, where crystal clear waters offer a window into an underwater world teeming with trout. It is suitably nicknamed “mirror of heaven” and well worth the 30 minute detour it adds to your drive time. There is a small viewing raft you can ride to the center of the spring to gaze into the depths of the spring below. (Free.)

As you continue your journey, you’ll be in awe of the stunning beauty of Pictured Rocks National Seashore and the breathtaking power of Tahquamenon Waterfall.

And finally, you’ll arrive at the highlight of the trip – the incredible Mackinac Island . Imagine stepping back in time as horse-drawn carriages clatter along cobblestone streets, and the aroma of world-famous fudge wafts through the air. Reaching the island requires a ferry ride from Mackinac City.

Insider travel tip: If you are prepared to splurge, the Grand Hotel is the crown jewel of the island. It dons the world’s largest front porch.

The adventure doesn’t have to end there. This is a choose your own adventure decision point as it is about the same amount of travel time to turn around and return the same way. Or we’ll continue south and take a ferry across to Manitowoc.

Mainland Michigan Stops

If you chose the latter, the next stop is Petoskey State Park , where the kids can scour the shores for Michigan’s state stone, the Petoskey. My kids think they look like dinosaur eggs.

Then, it’s on to Sleeping Bear Dunes for a heart-pumping climb and a stunning view over Lake Michigan.

As twilight descends, pull into the Cherry Bowl Drive-In Theater for a dose of nostalgia and a family movie under the stars.

The journey concludes with a relaxing ferry ride across Lake Michigan from the Ludington Ferry Terminal, winding down a road trip that’s sure to etch itself into your family’s core memory bank.

What are you waiting for? Pack up the car and create some memories on one of our favorite Midwest road trips!

Milwaukee to St. Louis

Embarking on a road trip from Milwaukee to St. Louis is a journey filled with diverse landscapes, charming small towns, and iconic landmarks. The distance of about 375 miles offers a unique blend of urban hustle and rural tranquility with endless educational opportunities.

The Gateway City’s vibrant food scene and family-friendly attractions made St. Louis a laid back and unforgettable family getaway. 

I have a detailed post with all of our favorite stops along this route.  Check out our suggestions on how to break up the 6 hour trip between Milwaukee and St. Louis . 

Wausau to Duluth

This Midwest road trip itinerary starts from Wausau and you’ll make your way to enchanting Duluth , experiencing the natural beauty of the region along the way.

Get ready to explore stunning attractions like Copper Falls State Park, Apostle Islands National Seashore, and Amnicon Falls State Park.

But that’s not all! Our journey doesn’t end there. We’ll also visit Gooseberry Falls State Park and Split Rock Lighthouse State Park, just outside Duluth. And let’s not forget the vibrant cities we’ll encounter, like Duluth itself. Don’t miss out on the Lake Superior Railroad Museum and Great Lakes Aquarium!

This trip is perfect for both kids and adults, promising an unforgettable adventure through the Midwest’s charming towns and breathtaking landscapes. Click here for the full route and guide.

Milwaukee, Wisconsin to Holland, Michigan

I grew up on the west side of Lake Michigan and didn’t experience a sunset over the Great Lake until I was in my 30s. It is something to behold, I felt as if I was on a soft sandy beach on the Gulf of Mexico.

If you love sand, sunsets, beer, and charming towns, this Midwest Road Trip is for you.

Welcome to our road trip adventure from the bustling city of Milwaukee to the charming town of Holland, Michigan. Each stop along our journey offers its unique blend of attractions that both children and adults will adore.

In Holland , enjoy the town’s rich Dutch heritage, marvel at the authentic windmill at Windmill Island Gardens and savoring a pint or two from the local breweries, while the kids enjoy root beer and pretzels.

Saugatuck is famed for its Oval Beach, one of the top 25 beaches in the world, as ranked by Condé Nast Traveler, is a haven of golden sands and crystal clear waters.

South Haven and St. Joseph , with their picturesque lighthouses and serene beaches, offer a tranquil escape, while the Southwest Michigan Wine Trail is a feast for the senses, boasting some of the region’s finest wineries. The vineyards also offer grape juice tasting for the young ones, making it a fun-filled family experience.

Finally, the Indiana Dunes , with their towering sand dunes and diverse wildlife, offer a perfect mix of education and recreation. It’s a place where children can learn about nature while running free, building sandcastles, and splashing in the water.

Central Wisconsin Gems

Central Wisconsin, with its well kept secrets of natural beauty, rich history, and family-friendly attractions, is the perfect route for an unforgettable road trip.

Start your journey in Oshkosh, where you’ll find the delightful, free Menominee Park and Zoo , a favorite among families. While in Oshkosh, consider grabbing a lunch at a drive in diner with carhops on roller-skates; Ardy and Ed’s .

Just up the road, you’ll find iconic Wisconsin breweries, like Central Waters Brewing and Steven’s Point Brewery (one of the oldest in the country).

Next, immerse yourselves in nature at Schmeeckle Reserve’s tranquil trails and marvel at the mystically quirky Rudolph Grotto Gardens . Next, visit Jurustic Park , home to a fascinating collection of ‘prehistoric’ metal sculptures. Rudolph Grotto Gardens and Jurustic are both one of a kind attractions, so unique that they’ve been featured in Atlas Obscura!

As you head south, don’t pass Osseo without tasting the legendary pies at Norske Nook !

Experience the thrill of harvest season at Wetherby Cranberry Farm , then head to Wisconsin Dells , the “ Waterpark Capital of the World “.

Continue your journey at the Ishnala Supper Club , offering mouthwatering dishes amid breathtaking views. You can expect to wait for a table so your best bet is to arrive when they open at 3:30 on weekdays. (Closed during the winter.)

Head next door to explore the serene beauty of Mirror Lake State Park and the magic of the Baraboo Circus Museum.

Go for a hike! Check out Parfrey’s Glen , Devil’s Lake , or Pewit’s Nest , each offering its own unique charm.

Don’t miss the Merrimac Ferry , Wisconsin’s only free ferry, before ending your Wisconsin Midwest road trip.

COVID and my parents’ collective health kept me close to home for a couple years which gave me the opportunity to explore my home state and discover gems I’d never expected; many of my favorites are on this route.

Milwaukee to Dubuque

A road trip that combines the charm of small-town America, the thrill of outdoor adventures, and the childhood excitement of interactive museums.

As you drive west through Wisconsin, the landscape transforms from urban sprawl to scenic countryside, with the Toy Train Barn Museum being your first stop. Featured in Atlas Obscura, this hidden gem houses a fascinating collection of miniature trains that will ignite your children’s imaginations. The best part about it is chatting with the couple who owns the museum. The man is a genius and the wife a saint.

Next, defy the laws of physics at Gravity Hill, a mysterious spot where your car will seem to roll uphill . It’s a strange phenomenon caused by optimal illusion.

Prepare to laugh with your whole family during your unusual hiking experience with goats in Galena, IL.

The Alpine Slide near Rice is a thrilling ride down a 2,050-foot track. Dubuque’s River Museum and Aquarium offers an immersive look at the Mississippi’s aquatic life.

On a rainy day, the Creative Adventure Lab in Dubuque provides the perfect indoor escape with interactive exhibits designed to spark creativity.

And for a touch of history, take a ride on the Fenelon Place Elevator , one of the world’s shortest and steepest scenic railways.

A detour to the Field of Dreams movie site is a must for any baseball fan. And when you arrive at the Quad Cities, where the Family Museum in Davenport and the John Deere Pavilion in Moline offer educational and entertaining diversions.

End your day with a meal at Twin Span Brewing , recommended for its craft beers and kid-friendly atmosphere.

The final leg of your journey takes you back to Milwaukee, with a pit stop at the Children’s Museum in Rockford .

Join me as we delve deeper into each destination , uncovering more of what makes this Midwest road trip a fantastic choice for families looking for educational and unforgettable memories.

Milwaukee to Minneapolis

Minnesota’s Twin Cities, Minneapolis and St. Paul are chock full of family friendly attractions that won’t break the bank. 

There’s much to see along the Midwest road trip route to the Twin Cities so consider breaking up your journey with one or more of these kid-approved stops packed with intrigue, energy busters, and delicious food. 

Roadside Stops:

Run out some energy at Aztalan State Park near Johnson Creek before cranking out a big chunk of the route.  While the little ones are running, big kids and adults can soak in the rich history of one of the state’s most significant archaeological sites.   

This National Historic Landmark showcases  an ancient Middle-Mississippian village that thrived between A.D. 1000 and 1300. The settlement was mysteriously abandoned sometime between 1200 and 1300 CE, leaving behind a wealth of cultural artifacts and historical intrigue. The name ‘Aztalan’ was given by early settlers who mistakenly believed the site had links to the Aztecs.

Restock your car snack supply and taste the abundant cheese and fudge samples in this fun Wisconsin shop with a giant mouse called Mousehouse Cheesehaus.

Madison, Wisconsin

Take a brief detour to find Madison Family Fun. You’ll find a handful of family-friendly activities that can be completed in less than two hours.

A quick stop at the Henry Vilas Zoo , which offers free admission, is a must-do. It’s home to hundreds of exotic species from around the globe and also includes a children’s zoo and a carousel. Spend an hour or two at the Madison Children’s Museum, a hands-on learning experience that encourages curiosity and imagination with exhibits on art, culture, and science. For outdoorsy families, a stroll through the Olbrich Botanical Gardens offers stunning visuals with a variety of beautiful themed gardens.

Lastly, you could treat the kids to a scoop of homemade ice cream at the Memorial Union Terrace , while enjoying lakeside views of Lake Mendota.

Wisconsin Dells, Wisconsin

Family fun is plentiful in Wisconsin Dells. With so many options to choose from, it’s a challenge to pick just one destination for a road trip stop. However, here are a few places that have been excellent pit stops for our family while passing through.

Go Karting – Give your adrenaline loving kid a thrill that doesn’t consume much time at all!  Stop by Adare or Big Chief Go Karts for a quick race.

Mini Golf – Play a round of themed mini golf at Pirate’s Cove Adventure Golf to get the whole family some sunshine, movement, and healthy competition.  Lunch or Dinner – Choose a place with fun and unique vibes for a meal break.   We like The Grateful Shed (indoor food trucks) and Buffalo Phils (food delivered by model train with a massive Lego city).

Eau Claire, Wisconsin

As you approach Minneapolis, consider making one final pit stop in Eau Claire. Take in the Sculpture Walk , boasting a collection of over 150 sculptures and recognized as one of the largest in the nation. Additionally, don’t miss the opportunity to explore the riverwalk in Phoenix Park .

For an engaging indoor experience, the Eau Claire Children’s Museum or the newly renovated Public Library are excellent destinations that offer young children ample opportunities to explore and discover.

Frequently Asked Questions about Road Tripping with Kids

1. How can I ensure safety during our Midwest road trips?

Safety should always be your top priority. Make sure all car seats are installed correctly and that seat belts are worn at all times. Plan your route in advance, and consider road conditions and weather forecasts. Keep an updated first-aid kit in the car and be aware of where hospitals or clinics are along your route. Pack your insurance card and know your login so you can check for in-network urgent care clinics should the need arise.

2. What’s the best way to keep kids comfortable during long drives?

Comfort is key on Midwest road trips. Dress kids in loose, comfortable clothing. Bring along pillows for longer drives and plan regular stops to stretch legs and burn off energy.

Also, keeping the car clean and clutter-free can contribute to overall comfort. Easier said than done, I know, but I have a few tips for car organization in this post .

3. How can I maintain a peaceful atmosphere in the car?

Set expectations before you start your journey. Explain the importance of being respectful and patient. Create a playlist of everyone’s favorite songs or listen to audiobooks that the whole family can enjoy. Remember, your attitude sets the tone for the trip.

I ensure each kid that we are doing one thing each day specifically with their interests in mind.

4. How do I keep the kids entertained throughout the trip?

Creativity is your best friend here. Pack travel-friendly games, download movies or shows on tablets, or play classic car games like “I Spy” or “License Plate Game”. I have tons of my favorite road trip activities listed here.

Consider creating a travel journal where they can document their Midwest road trip.

5. Should I pack meals or plan to stop for food?

A mix of both works well. Pack plenty of healthy snacks and drinks to curb hunger between meals and pass the time. For meals, research kid-friendly restaurants along your route. Trying local cuisine can be one of the highlights of Midwest road trips.

6. Are there any recommended apps for road trips? Absolutely! Apps like Roadtrippers and Waze are great for planning your route and getting real-time traffic updates. For entertainment, consider apps like Libby (for e-books and audiobooks) or Netflix and Disney+ (download shows/movies for offline viewing).

7. How often should we take breaks?

For comfort and safety, plan to stop every 2-3 hours. Use these breaks for restroom visits, meals, and to explore attractions along the way. This break-up makes Midwest road trips more manageable for kids. If you have an infant in the car, pediatricians advise not to leave them in their car seat for more than 2 hours at a time at risk of impacting spinal development.

8. What are some essential items to pack for kids? Apart from clothing and toiletries, consider packing items such as blankets, favorite toys, wet wipes, hand sanitizer, sunscreen, hats, and reusable water bottles. Don’t forget chargers for electronic devices!

9. How can I make the trip educational for my kids? Midwest road trips offer ample opportunities for learning. Research each destination beforehand and share interesting facts or play podcasts/Youtube videos about the destination en route. Visit historical sites, museums, and nature reserves. Encourage kids to read road maps or calculate distances.

National Parks and State Parks have ranger and naturalist programs. Inquire when you arrive.

Final thoughts on Midwest Road Trips

The Midwest is packed with family-friendly attractions. Remember, every family is different. Tailor your Midwest road trips to suit your family’s interests and needs. Happy travels!

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9 Fantastic Day Trips From Milwaukee

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• Activities and Interests
• Destinations
• Door County
• Lake Geneva
• Outdoor Activities
• 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!

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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.

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.

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.

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.

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.

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.

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.

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.

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.

• National Parks
• Tiny Houses

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 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 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 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

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

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 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

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

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

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

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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30 Best Day Trips From Milwaukee — Places Nearby!

For travelers, Milwaukee is the best place to go.

Why wouldn’t it be?

The city in the state of Wisconsin is home to must-see spots, such as the Harley-Davidson Museum and the Historic Third Ward.

The city is in the best location, too.

Situated on Lake Michigan’s western shore, theam City is the perfect jump-off point to other must-visit sites.

Have you explored every nook and cranny of Milwaukee?

Carry on with your adventures with the best day trips from Milwaukee on this list:

1. Cedarburg

This city in Ozaukee County is on the beautiful Cedar Creek.

It’s home to eight listings on the National Register of Historic Places.

It’s a 27-minute drive from Milwaukee to Cedarburg.

This is one of the best places to visit near Milwaukee for many reasons.

It’s not just because the city exudes a beautiful small-town charm.

It’s also because it’s home to many structures with historical and architectural value.

Check out the Cedarburg Mill, built in 1855, with its Greek Revival cornice.

The 180-foot bridge over Cedar Creek is a must-visit, too.

Built in 1876, it’s the last remaining original covered bridge in Wisconsin.

Don’t forget to check out the Columbia Historic District.

It’s home to the 1865 Greek Revival limestone Gleitzman structure.

You’ll find the 1891 Gothic Revival Lutheran church there, too.

2. East Troy Electric Railroad

2002 Church Street East Troy, WI 53120 (262) 642-3263

Owned and operated by the East Troy Railroad Museum, the railroad stretches for 7 miles.

It connects East Troy with Mukwonago.

You can get to the East Troy Electric Railroad from Milwaukee in 34 minutes by car.

Looking for things to do outside Milwaukee ?

Hop on the East Troy Electric train.

The train line isn’t your ordinary public railroad.

It dates back to 1907 as part of the Milwaukee Electric Railway and Light Company.

Ride the train to the Elegant Farmer store in Phantom Woods or the Indianhead Park in Mukwonago.

Don’t forget to check out the original substation building, which is now used as a ticket office and a museum.

It’s on the National Register of Historic Places.

3. Holy Hill

1525 Carmel Road Hubertus, WI 53033 (262) 628-1838

This Roman Catholic shrine is in the town of Erin in the north-central United States.

The shrine is on top of a kame, an irregularly shaped mound, in 400 acres of wood.

You can reach Holy Hill by car in 38 minutes.

Don’t look any further for the most scenic places near Milwaukee.

Climb up the 178 steps of the shrine’s observation tower.

You’ll find yourself approximately 1350 feet above sea level.

So you’ll get an incredible view of the Milwaukee skyline and landscape.

If you’re more of an architecture buff, don’t worry.

The shrine itself is a beauty.

Marvel at the central cast-bronze entry doors with depictions.

You’ll also love the shrine’s Romanesque Revival architectural style as it stands out on the hill.

Recommended Hotel Nearby: AmericInn by Wyndham Hartford WI

Also See: Best Day Trips From Madison

4. Port Washington

This city is the seat of Ozaukee County.

Situated on Lake Michigan’s western shore, it’s home to over 30 public parks, trails, and structures dating back to the 1800s.

You can get to Port Washington from Milwaukee in 30 minutes.

Enjoy your daycation in this charming city just 27 miles north of Milwaukee.

It’s one of the best day trips from Milwaukee for families.

When you get there, you’ll find many parks you and your kids can visit.

The Possibility Playground is the epitome of fun for the young ones, with a pirate ship complete with waves and monkey bars.

The Veterans Memorial Park is perfect for picnics.

It has vast green spaces and tall trees for shade.

Cap off your day with a delightful walk in the woods along a babbling brook in the Blumenfeld Family Park.

Recommended Hotel Nearby: The Harborview, Ascend Hotel Collection

5. Museum of Wisconsin Art

205 Veterans Avenue West Bend, WI 53095 (262) 334-9638

This museum in downtown West Bend showcases art from the state of Wisconsin.

It features a collection of works from Wisconsin artists from 1820 up to the present.

The Museum of Wisconsin Art is 43 minutes away from Milwaukee by car.

This is one of the best places to see near Milwaukee if you’re an art enthusiast.

The museum houses over 5000 works in its permanent collection.

The collection includes work by talented artists, such as Truman Lowe, Theodore Czebotar, and Heinrich Vianden.

You can enjoy featured exhibits by glass artists, such as Harvey Littleton and Beth Lipman.

An aspiring artist yourself?

Attend an art class or a family workshop if you’re with the kids.

You’ll understand why this one day trip from Milwaukee is worth it.

Recommended Hotel Nearby: Hampton Inn & Suites West Bend

Related: Activities in Milwaukee

6. Shalom Wildlife Zoo

1901 Shalom Drive West Bend, WI 53090 (262) 338-1310

Called “Wisconsin’s wildest zoo,” this fauna haven is home to over 750 animals from 75 species.

It also features four miles of gravel roads.

Use a car to get to Shalom Wildlife Zoo from Milwaukee in 47 minutes.

The kids won’t get enough of the gorgeous animal residents in this park.

Rent a golf cart and ply the gravel roads to see the bison and deer up close.

You can opt to use your car or walk, too.

Whatever mode of transportation you choose, one thing’s for sure: A wild adventure is in store for you.

If you’re lucky, you might even get the chance to feed or pet some animals.

Recommended Hotel Nearby: AmericInn by Wyndham West Bend

Related: Best Weekend Getaways From Milwaukee

7. Spinning Top & Yo-Yo Museum

533 Milwaukee Avenue Burlington, WI 53105 (262) 763-3946

This museum in the city center showcases over 2,000 antique and modern tops, yo-yos, and gyroscopes.

It also houses a gift shop.

If you travel by car from Milwaukee, you can reach this museum in 41 minutes.

Want to try something different?

Head to this museum.

Check out the world’s smallest tops in a popular exhibit.

Try any of the 40 hands-on top action games here, too.

And to end your day trip, play with some of the tops for free in the museum’s gift shop.

Don’t worry because you have many choices.

There are 400 tops, yo-yos, and gyroscopes there.

Recommended Hotel Nearby: Holiday Inn Club Vacations at Lake Geneva Resort, an IHG Hotel

8. Paradise Springs

W374 S8640 County Road North Eagle, WI 53119 (262) 594-6200

This partially paved nature trail is just outside the southern unit of the Kettle Moraine State Forest.

It’s home to a beautiful trout pond and an abandoned springhouse.

It’s a 46-minute drive from Milwaukee to Paradise Springs.

This is one of the best day trips from Milwaukee for couples.

Hike the 0.7-mile loop, and you’ll get views of an area once the elite’s go-to place.

Marvel at the beautiful remains of a hotel and a horse track.

You’ll also find a shuffleboard court and a springhouse along the way.

When you get to the trail’s end, you get the ultimate reward: a gorgeous pond in turquoise hues filled with fish.

Recommended Hotel Nearby: Baymont Inn & Suites by Wyndham Mukwonago

9. Fox River Park

W264 S4500 River Road Waukesha, WI 53189 (262) 970-6690

Located on the Fox River, this park is home to hiking trails, a play area, and wildflowers.

It stretches for 257 acres.

You can get to this park from Milwaukee in 30 minutes.

Immerse in nature in this popular park filled with mature woodlands and wetlands.

Hike through the forest for a full view of colorful leaves and flowers.

You can see gorgeous bird species, such as Acadian flycatchers and songbirds.

If you prefer a water adventure, go canoeing on the river instead.

You get just as stunning nature views.

Recommended Hotel Nearby: avid hotels Milwaukee West – Waukesha, an IHG Hotel

Related: Weekend Trips in Wisconsin

10. Lapham Peak

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

Formed 10,000 years ago when a glacier covered much of Wisconsin, this state park stretches for 1,000 acres.

It’s part of the Kettle Moraine State Forest.

You can reach Lapham Peak in 26 minutes if you travel by car.

Get full nature immersion in this gorgeous park.

Its glaciated topography makes it ideal for hiking and backpacking.

Make sure to climb the 45-foot observation tower.

At 1,233 feet above sea level, it’s the highest point in Waukesha County.

You’ll want to see the views of green spaces above because they’re Instagram-worthy.

Recommended Hotel Nearby: La Quinta by Wyndham Milwaukee Delafield

11. Retzer Nature Center

S14 W28167 Madison Street Waukesha, WI 53188 (262) 896-8007

This nature oasis stretches for over 450 acres.

It features prairie lands, a forest, nature trails, and environmental learning facilities.

You can get to Retzer Nature Center from Milwaukee in 26 minutes.

Get the ultimate nature experience in this beautiful park.

Marvel at the over 26,000 trees, shrubs, and flowers thriving in this beautiful landscape.

The gorgeous butterfly and rain garden is a must-see, too.

Want a break from the green spaces?

Go to the Horwitz-DeRemer Planetarium.

You’ll go on a tour of the current skies through the facility’s high-definition laser projection system.

Recommended Hotel Nearby: Comfort Inn

12. Green Meadows Farm

33603 High Drive East Troy, WI 53120 (262) 254-1134

Established in 1964, this petting zoo features farm animals, such as pigs and hens.

It also offers hayrides, a corn maze, and kitten adoption opportunities.

If you travel by car, it takes 36 minutes to get to Green Meadows Farm from Milwaukee.

Make friends with beautiful animals in this family-friendly facility.

Observe the goats, ponies, and tortoises as they move around in their natural habitat.

If it’s your lucky day, you might even get to pet some of them.

Have a picnic on the farm grounds if you get hungry.

Then challenge your significant other to a race in the corn maze.

The winner gets a free drink and bragging rights.

13. Old World Wisconsin

W372 S9727 WI-67 Eagle, WI 53119 (262) 594-6301

This open-air museum is home to 60 restored historic structures.

It encompasses over 600 acres of picturesque landscape.

It’s a 45-minute drive from Milwaukee to Old World Wisconsin.

Get transported back to 18th and 19th-century Wisconsin when you step inside this one-of-a-kind museum.

Experience the lives of early Wisconsin settlers as you explore the beautifully restored barns and other wooden structures.

You can attend a historic woodworking workshop and practice your carpentry chops.

See how early settlers prepared their food, too.

Attend the historic woodstove cooking workshop for a time travel-like experiece.

Recommended Hotel Nearby: The Crossroads Motel

14. Bear Den Zoo & Petting Farm

6831 Big Bend Road Waterford, WI 53185 (262) 895-6430

This family-owned zoo is home to kangaroos, goats, and llamas.

It offers animal-petting opportunities and hayrides.

You can get to the farm in 31 minutes if you’re using a car.

The kids will love interacting with the animals in this place.

They can pet a kitten and even a baby lemur and kangaroo.

Go on a wagon ride through the woods.

If you get hungry, you can always have a picnic surrounded by beautiful flora and fauna.

Recommended Hotel Nearby: Holiday Inn Express Hotel & Suites Milwaukee-New Berlin, an IHG Hotel

15. Imagination Station

100 East Forest Street Oconomowoc, WI 53066 (262) 569-2199

This playground is in Roosevelt Park.

It features recycled plastic composite ramping, therapeutic swings, and a wall for climbing.

The travel time from Milwaukee to Imagination Station is 33 minutes.

The kids will have a blast here with the playground’s unique features.

Picture a wooden boat with waves and a treehouse that goes 20 feet up in the air.

There are musical and educational components.

For the thrill-seekers, there’s a short wall for climbing, too.

Don’t worry.

The park features rubberized surfaces that help prevent injuries.

Recommended Hotel Nearby: Hilton Garden Inn Oconomowoc

16. Pike Lake

3544 Kettle Moraine Road Hartford, WI 53027 (262) 670-3400

Pike Lake is a unit of the Wisconsin state park system.

It stretches for 678 acres in the Kettle Moraine State Forest and features a beach and hiking trails.

It takes 36 minutes to get to Pike Lake from Milwaukee by car.

Take in beautiful views of flora and fauna as you hike the 2.3-mile Pike Lake trail.

If you prefer a more relaxing activity, head to the observation tower.

You can soak in panoramic views of the 446-acre Pike Lake.

You can go closer to the lake if you wish.

There are picnic tables you can use for the perfect meal in nature.

Recommended Hotel Nearby: Country Inn & Suites by Radisson, West Bend, WI

17. The Grove at Village Park

W244 N6260 Weaver Drive Sussex, WI 53089 (262) 246-5200

This green space in Sussex Village Park features a splash pad, a 14000-square-foot inclusive playground, and a pavilion.

You’ll reach The Grove at Village Park in 27 minutes if you travel from Milwaukee by car.

Bond with the family in this popular park near Sussex in Waukesha County.

The 5,200-square-foot splash pad will wow the kids.

It features a 20-foot-tall dumping feature and water arches.

The kids will love the playground, too.

There are two 12-foot towers with climbing features and twists.

There’s a playhouse for the five-year-olds and even a zipline for the older and more adventurous ones.

As for you and your significant other, why not play a basketball game on any of the park’s multi-use courts?

The winner gets to be the passenger on the drive back to Milwaukee.

Recommended Hotel Nearby: Tru By Hilton Milwaukee Brookfield

18. Ten Chimneys

S43 W31575 Depot Road Waukesha, WI 53189 (262) 968-4161

This museum has been a National Historic Landmark since 2003.

Built in 1915, the estate was the summer home of Broadway performers Lynn Fontanne and Alfred Lunt.

The travel time from Milwaukee to Ten Chimneys is 33 minutes.

Go on a tour of the beautiful estate, including a three-story house, a creamery, and restored gardens.

The champagne and canape tour is perfect for couples.

After that tour, you get a delicious drink and hors d’oeuvres on the estate’s cottage porch.

There’s something here for music lovers, too.

Nationally-renowned cabaret artists have been performing in the main house since 2006.

Catch their performances in the drawing room, where the Lunts entertained the likes of acclaimed artists Katharine Hepburn and Helen Hayes.

Recommended Hotel Nearby: The Ingleside Hotel

19. Door County

Door County, WI 54235 (920) 743-5511

This peninsula is between Green Bay and Lake Michigan.

It’s home to at least 50 public beaches and over 90 miles of streams.

You can reach Door County from Milwaukee in 2 hours and 15 minutes if you travel by car.

The journey from Milwaukee to this place may take longer than usual, but it’s worth it.

You can enjoy 300 miles of shoreline and 10 waterfront towns.

Check out Cana Island.

Here you’ll see the remains of freighter M.J. Barteleme, which ran aground in 1928.

You can tour John Purves, a restored tugboat, at the Door County Maritime Museum.

If you’re more of a theater enthusiast, catch a Broadway musical at Peninsula Players Theatre.

Looking for an adventure for the palate?

Explore the Door County Wine Trail.

The eight wineries that comprise the trail will make your taste buds happy.

Recommended Hotel Nearby: Snug Harbor Inn

20. Chicago

This city on Lake Michigan is among the largest in the country.

It’s a go-to place for its museums, over 570 parks, and The Magnificent Mile.

If you travel by car, it will take 1 hour and 28 minutes to get to Chicago .

Chicago is a beauty, so don’t miss out.

Visit some of the country’s tallest towers, like The Western Hemisphere and Willis Tower.

The Merchandise Mart is here, too.

It’s one of the largest buildings in the world.

Are you an art buff?

Don’t fret.

The city has something to offer as well.

Its outdoor public art is a must-see.

Check out Chagall’s Four Seasons and Anish Kapoor’s Cloud Gate.

The Art Institute of Chicago is a popular destination, too.

It houses a wide array of global art pieces that span centuries.

Recommended Hotel Nearby: Sofitel Chicago Magnificent Mile

Kohler, WI 53044 (920) 459-3873

This village in Sheboygan County spans over 3600 acres of property.

Founded in 1900, it features golf courses, a design center, and the Kohler company main office.

The travel time from Milwaukee to Kohler is 51 minutes.

The village exudes a charming vibe, with its small area that houses less than 3,000 people.

But even if the village is relatively small, it has a lot to offer tourists and locals.

Play a golf game in Whistling Straits, with its 36 holes, eight of which are near the lake.

Check out the Kohler Design Center, which showcases innovative product design and technology.

Then end your trip with a bang with the perfect meal in The Blind Horse.

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

22. Elkhart Lake

Elkhart Lake, WI 53020 (920) 876-2122

This village is in the middle of the beautiful Kettle Moraine.

It’s home to beautiful Victorian architecture and a world-class racing circuit.

If you use a car, you can get to Elkhart Lake from Milwaukee in 1 hour.

Enjoy an entire day away from the hustle and bustle of the big city.

Take a scenic drive through the gorgeous hills of the Kettle Moraine State Forest.

Then go boating on the gorgeous lake under the beautiful blue skies.

Don’t forget to check out the village’s quaint gift shops.

You might find the perfect souvenir.

Recommended Hotel Nearby: Baymont by Wyndham Plymouth

23. Lake Geneva

This resort city in southeastern Wisconsin encompasses 4396 acres of land.

It’s home to public parks, 19th-century structures, and steep hills.

If you use a vehicle, it will take 51 minutes to get to Lake Geneva.

It’s easy to see why Lake Geneva is the perfect place to visit.

The city is nature at its finest.

Go swimming in Williams Bay Beach or boating on Lake Geneva.

You can try apple-picking at the Apple Barn Orchard and Winery for a unique experience.

How about horseback riding at Dan Patch Stables?

You’ll see the beautiful Wisconsin countryside and make a new animal friend.

Recommended Hotel Nearby: Mill Creek Hotel

24. Madison

Madison, WI 53703 (608) 266-4711

Situated on an isthmus surrounded by four lakes, Madison is home to an extensive network of parks and trails.

It also features commercial areas, such as Hillsdale and Capitol Square.

The travel time from Milwaukee to Madison is 1 hour and 14 minutes.

Looking for Milwaukee day trips for the family?

Madison is just the perfect destination.

The Wisconsin State Capitol is a must-see, with its gorgeous 284-foot-high dome that cuts through the beautiful Madison sky.

For nature lovers, the Olbrich Botanical Gardens is the place to go.

Built in 1952, its 16 acres are full of exotic foliage you’ll love.

And for the kids?

Head out to Lake Monona.

Enjoy a leisurely paddle in a kayak, then have a family picnic in any of the green spaces.

Recommended Hotel Nearby: Graduate Madison

25. Milwaukee Mile

640 South 84th Street West Allis, WI 53214 (414) 266-7300

This 1.8-mile long oval race track is in the Wisconsin State Fair Park.

Hosting races since 1903, it’s the oldest operating motor speedway in the world.

You can use a car to get to Milwaukee Mile, and you’ll get there in 12 minutes.

This is one of the best Milwaukee trips to make if you love cars.

Book a supercar and race the track, complete with its 10 turns and high-speed corners.

If you prefer to be a passenger, try the High-Speed Ride Along package instead.

Watch as a professional driver goes full throttle for three laps for the ultimate adrenaline-pumping experience.

Recommended Hotel Nearby: Hampton Inn & Suites Milwaukee West

26. Six Flags

1 Great America Parkway Gurnee, IL 60031 (847) 249-1776

This amusement park is in the northern Chicago Metropolitan Area.

It stretches for 304 acres and features roller coasters, carousels, and virtual reality attractions.

By car, you can reach Six Flags from Milwaukee in 48 minutes.

Bond with the entire family in this amusement park with everything for everyone.

Up for a thrilling adventure?

Then ride Batman the roller coaster or the Giant Drop, where you’ll be in free fall from the top of a 227-foot tower.

The kids will love the twists and turns of the Krazy Kars and Lady Bug.

There are rides for the entire family, too.

Try the Columbia Carousel or the DC Super Villains Swing.

Recommended Hotel Nearby: Country Inn & Suites by Radisson, Gurnee, IL

This city is at the mouth of the Root River on Lake Michigan.

It’s home to historic buildings like the Hansen House and Memorial Hall.

It’s a 37-minute drive from Milwaukee to Racine.

Racine has a lot to offer, whether you’re a history enthusiast or a nature lover.

For instance, the St. Patrick’s Roman Catholic Church is a historical gem.

Built in 1924, it has been on the National Register of Historic Places since 1979.

The city has many other historical structures, such as the Wind Point Lighthouse built in 1880.

For the nature buff, North Beach Park is just the destination.

Go on a picnic on the sandy shores or swim in the blue waters.

Or you can head down to the River Bend Nature Center.

Soak in the gorgeous trees and blue skies above while you kayak on the river.

Recommended Hotel Nearby: DoubleTree by Hilton Racine Harbourwalk

28. Fort Atkinson

This city spans over 3700 acres of land along the Rock River.

It features museums, trails, and historic sites like Panther Intaglio.

You can get to Fort Atkinson in 55 minutes if you travel by car.

Expect incredible experiences in this beautiful city.

Check out Panther Intaglio, a 125-foot-long effigy mound engraved by American Indians in 1000 A.D.

Want more history?

Drop by the Hoard Historical Museum.

You’ll enjoy the exhibits from the 19th century and the Lincoln era.

End your day with an incredible fine dining meal at Fireside Dinner Theatre.

After watching a spectacular rendition of the classics, such as The Sound of Music, you can have it.

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

29. Kenosha

This city on Lake Michigan encompasses over 18,000 acres.

It’s home to the Southport Light Station Museum, parks, and historic structures.

The travel time to Kenosha is 43 minutes if you use a car.

This city is a tourist destination and for a good reason.

You can go biking on any of the 130 miles of trails here.

If you brought your furry friend with you, Kenosha has four off-leash parks.

Bristol Woods Park is perfect for families, too.

It has features made of natural materials, such as a mud kitchen or climbing obstacles.

Recommended Hotel Nearby: The Stella Hotel & Ballroom

30. Horicon Marsh

N7725 Highway 28 Horicon, WI 53032 (920) 387-7890

Located in southeast Wisconsin, this marsh is the largest freshwater cattail marsh in the country.

It’s home to a wide variety of wildlife, such as geese and shorebirds.

It takes 1 hour to get to Horicon Marsh from Milwaukee by car.

This is one of the best day trips from Milwaukee you shouldn’t miss.

The marsh is nature at its peak.

Go on a boat tour, and you might see the beautiful creatures that are residents of the area.

Ruddy ducks, purple martins, and American wigeons have been sighted here.

Check out the Horicon National Wildlife Refuge, too.

The east end of Old Marsh Road allows for easy walking.

You might see cranes just exploring their natural habitat if you’re lucky.

Recommended Hotel Nearby: The Audubon Hotel and Event Venue

Map of Day Trips Near Milwaukee, WI

30 Best Day Trips from Milwaukee, WI for 2024

• East Troy Electric Railroad
• Port Washington
• Museum of Wisconsin Art
• Shalom Wildlife Zoo
• Spinning Top & Yo-Yo Museum
• Paradise Springs
• Fox River Park
• Lapham Peak
• Retzer Nature Center
• Green Meadows Farm
• Old World Wisconsin
• Bear Den Zoo & Petting Farm
• Imagination Station
• The Grove at Village Park
• Ten Chimneys
• Door County
• Elkhart Lake
• Lake Geneva
• Milwaukee Mile
• Fort Atkinson
• Horicon Marsh

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!

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!

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).

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

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

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Indianapolis, IN to Boyne City, MI

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

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Central Iowa road trip

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.

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

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

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

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)

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.

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

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

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

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)

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

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Triple Nickel Byway (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

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!

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. :)

Road Trip from Milwaukee to Niagara Falls

Are you looking for a road trip that embraces culture and amazing scenery, culminating with one of the true wonders of the natural world? Then a road trip from Milwaukee to Niagara Falls could be the perfect trip for you as you visit iconic cities and take in several of the Great Lakes on this truly epic journey.

The 675-mile road trip from Milwaukee to Niagara Falls takes 14 hours to drive. Notable stops are Chicago, Fort Wayne, Toledo, Cleveland, Erie, Sturgeon Point Marina, plus Holland, Grand Rapids, Ann Arbor, Detroit, London, Hamilton, and Toronto.

Continue reading to find out what lies in store on this memorable trip, and discover the best routes to take, when to make the trip and some of the amazing locations and attractions on offer along the way.

How far is Niagara Falls from Milwaukee, and how long will the road trip take?

We have recommended two routes for the trip from Milwaukee to Niagara Falls, and whilst both are unique, they have much to offer with many attractions and exciting places to see along the way.

The Chicago Route covers 695 miles and takes 12 hours and 45 minutes of continuous driving to complete the trip.

The Toronto route is slightly shorter, covering 675 miles and takes 14 hours without allowing for breaks and detours. It is entirely up to you which route you prefer and both are equally enjoyable.

Both routes involve mainly interstate driving and you should allow at least 3 days to undertake the trip although, with so many interesting places to visit and so much to enjoy, you may find yourself spreading the journey over a week.

Best road trip route from Milwaukee to Niagara Falls

Our Chicago route will appeal to art lovers, offer plenty of cultural attractions, and gives the opportunity to take in some amazing cities and visit some of America's top art galleries.

This route offers road trippers the choice of staying within the US as you journey up to the magnificent Niagara Falls.

Our Toronto route allows you to see some of Michigan and Ontario's beautiful cities and towns as you cross Lake Michigan, and travel along the Canadian side of Lake Erie up to Toronto and onto Niagara Falls.

If you would like to enjoy the best of both worlds, why not follow one route to visit the famous waterfalls and the other one on your way back? This way, you will get to enjoy the cultural and natural attractions on both our suggested routes.

The Toronto Route

Head to the shore of Lake Michigan where the Milwaukee to Muskegon Ferry will take you across the Lake. The 85-mile crossing takes 2 hours and 30 minutes.

From Muskegon, head towards Holland and then Grand Rapids. Leaving Grand Rapids, take the I-96 E skirting around Lansing before reaching Brighton past Whitmore Lake and the Island Lake Recreation Area leading you to Ann Arbor.

From Ann Arbor, follow the interstate to Motor City, Detroit. Then, cross the Detroit River and head over the border into Canada where the ON-401 E will take you to London.

You will pass Stratford and Kitchener before reaching Hamilton where you will drive along the shores of Lake Ontario to Toronto. From Toronto, head towards Burlington and the Queen Elizabeth Way will take you to your destination in Niagara Falls.

The Chicago Route

Leaving Milwaukee and the shores of Lake Michigan, head south and join Interstate 94 (I-94) East running parallel to the shoreline before arriving at the Windy City, Chicago. Pass through Whiting and Portage before heading southeast until you arrive at Fort Wayne.

Back on the road, take the US-24 heading past Defiance and Napoleon before crossing the Maumee River and skirting Perrysburg before arriving in Toledo, at the western tip of Lake Erie.

From Toledo, follow I-90 E along the southern side of Lake Erie before arriving in Cleveland. After your visit, continue on the interstate before taking the Bayfront Parkway into Erie, situated on the shores of Lake Erie.

Continue along the shoreline in places with excellent views of the coastline of Canada across the water. Continue past Sturgeon Point Marina and Buffalo before arriving at the final destination, Niagara Falls.

Best places to stop between Milwaukee and Niagara Falls

A road trip of this length will be even more enjoyable with a few overnight stops allowing the chance to explore some of the major towns and cities you'll encounter in more detail.

With so many amazing places to see on either route, you'll be spoilt for choice on where to stay so we have suggested a couple of our favorites for you to consider.

Enjoy a cultural stay in Cleveland

Situated on the southern shore of Lake Erie, Cleveland is around 4 hours away from Niagara Falls. It is located directly on the Chicago Route so there is no need for a detour when stopping off to explore this fantastic city.

A stay at the Hyatt Regency Cleveland at The Arcade will allow you the perfect opportunity to relax and refresh after a busy day of driving and sightseeing, enjoying the on-site spa, salon, and fitness center.

This hotel is conveniently situated in the center of Cleveland, within walking distance of the best shopping and dining destinations and you can indulge in Cocktails in the 1890 lounge.

The Rock and Roll Hall of Fame is within easy walking distance, where you can immerse yourself in musical history with one of the most impressive collections of music memorabilia in the world, including John Lennon's guitar.

Add a touch of class to your trip by taking in a performance of the Cleveland Orchestra at Severance Hall, one of the most beautiful concert halls in the world and embrace the diverse range of Art on display at the Cleveland Museum of Art, with exhibits ranging from Monet to Andy Warhol.

Admire the lakeside views in Toronto

Toronto is the capital of Ontario, and one of Canada's main cities. Located around 90 minutes from Niagara Falls on the route that shares its name, it makes for a great overnight stop to rest and relax and allows you to arrive at your final destination fully refreshed.

As you would expect in such a thriving metropolis, there is an abundance of accommodation options to choose from and a stay at the Pantages Hotel Toronto Centre is an ideal base to explore this fantastic city .

Situated in the heart of downtown Toronto, this stylish and sophisticated hotel houses the Stages Restaurant and Lounge, which is the perfect place to sample delicious local cuisine and sip a cocktail before heading out to experience Toronto's music scene and nightlife.

This hotel is within walking distance of the Hockey Hall of Fame, the beautiful Harbour-front and many of the city's most famous attractions such as the Royal Ontario Museum, which is worth visiting for the architecture alone.

A trip to Toronto wouldn't be complete without visiting its most famous landmark, the CN Tower, one of Canada's architectural masterpieces. Enjoy spectacular 360-degree views over the entire city from the observation floor with stunning panoramic views as far as the eye can see.

Where to stay when you reach Niagara Falls

Once you've reached your final destination, you'll be in awe at the stunning Horseshoe Falls, one of the most visited tourist destinations in the world.

You can see the falls on foot from the many viewing areas or take a boat tour and view them from the water below. You can also enjoy spectacular views of the iconic waterfalls from the comfort of your own room with a stay at the Hilton Niagara Falls / Fallsview Hotel and Suites .

This luxury 4-star contemporary hotel also has a rooftop restaurant and lounge with fall views, in addition to a steakhouse, Italian eatery and a trendy bar and café so you can enjoy the incredible views in style.

Take a tour on the Maid of the Mist and sail as close to the falls as possible, to get a unique view of the falls from below, and visit the Cave of the Winds, where you'll don waterproofs and take a catwalk to the bottom of the falls for a rewarding view of the astonishing cascading waters.

Things to see on a road trip from Milwaukee to Niagara Falls

There is so much to see on a trip from Milwaukee to Niagara Falls that you will need to plan ahead to ensure you can fit everything in. WIth endless new attractions to discover, we have recommended a few of our favorites to help you plan a fun-filled itinerary:

• Grand Haven - Located on the East shore of Lake Michigan, known for its sandy beaches and restaurant-lined boardwalk. This is a good stop after the ferry crossing. Beautiful walking trails with lake views can be taken from the Rosy Mound Natural Area.
• Holland - Famous for its big red lighthouse, Holland is on the shore of Lake Macatawa, by the channel connecting it to Lake Michigan. Visit the beachfront Holland State Park to see deer and migratory birds.
• Grand Rapids - Visit the Frederik Meijer Gardens and Sculpture Park to explore the tropical conservatory and many garden spaces. Art lovers will enjoy the art collection housed amongst the plants.
• Ann Arbor - Home to the University of Michigan, Ann Arbor is a good stop for museum buffs. The University museum of art has huge collections of famous artists from around the world. Other museums of note include the Museum of Natural History and the Ann Arbor Hands-On Museum which is a great day out for kids.
• Henry Ford Museum of Innovation - Find inspiration in past innovation, learning about the minds and lives of American innovators from history.
• Detroit - Eat deep-dish pizza and explore the nightlife and shopping opportunities of this waterfront city. Learn about iconic Motown artists and see the industrial murals of Diego Rivera, the famous Mexican painter.
• Lake St. Clair - Save some time to visit Lake St. Clair, a freshwater lake lying on the border between Canada and America. The bright blue waters are perfect for water sports and swimming.
• London - Known as the Forest City, take some time out in this beautiful Canadian city. Home to the University of Western Ontario, London boasts an impressive range of museums exhibiting everything from classic art to historical artifacts.
• Stratford - Named after Stratford-upon-Avon in England, this Canadian city offers plenty of Shakespearean experiences for visitors, including the Stratford Festival which sees Shakespeare plays in many theatres.
• Hamilton - Split by the Niagara Escarpment, a 750km ridge of fossil-filled rock that runs from Niagara to Tobermory. Offering endless hiking and biking trails to explore. Hikers can expect to find waterfalls, impressive rock formations, wild forests, and wildlife.
• Burlington - This city is home to a thriving arts scene, outdoor pursuits, and plenty of museums. Famous for the Royal Botanical Gardens featuring over 1500 types of plants.
• Toronto - Take in the towering skyscrapers of the Toronto skylines and relax in the many green spaces of this wonderful city.

• Chicago - Sitting on the banks of Lake Michigan, famous for its architecture and skyline filled with skyscrapers like John Hancock Center, Willis Tower, and Tribune Tower.
• Art Institute of Chicago - Art museum famous for its collection of Impressionist and Post-Impressionist paintings. No visit to Chicago is complete without a visit.
• Indiana Dunes National Park - Visit the beautiful national park on the Southern shore of Lake Michigan. With hiking trails, nature spotting, and swimming, take in the breathtaking views over Chicago or a spectacular sunset.
• Fort Wayne - Known for its beautiful parks and boulevards, visit the Foellinger-Freimann Botanical Conservatory for indoor tropical and desert gardens. Or see American paintings and sculptures at the Fort Wayne Museum of Art.
• Toledo Museum of Art - Sitting on the edge of Lake Erie, this city is home to the Toledo Museum of Art which boasts an impressive collection of modern and renaissance art. Nicknamed the glass city, the museum also reflects the impact this industry has had on the city.
• East Sandusky Bay Water Trail - Walk this short trail for beautiful views of the bay, and learn about local cultures and wildlife.
• Cuyahoga Valley National Park - Go chasing waterfalls in this scenic national park, just a short distance away from Cleveland. Walk the restored Ohio and Erie Canal Towpath Trail, or visit the Canal Exploration Center to learn about 19th-century waterway history.
• Presque Isle State Park - A peninsula with beaches and walking trails, visit this isle for different views of the city of Erie.
• Sturgeon Point Marina - Boat lovers will love visiting this marina, with picturesque views of Lake Erie. A beautiful place for a picnic break to break up the journey.
• Buffalo - Buffalo is ranked fourth in a list of American Top Art Destinations, boasting over 50 private and public art galleries.

Best time to go on a road trip from Milwaukee to Niagara Falls

Niagara Falls is open all year round, however some attractions like Maid of the Mist and Cave of the Winds are only open until October or November. Visitor experiences in the winter can be negatively affected by icy conditions.

Summer is a busy time to visit Niagara Falls, but visitors benefit from warm weather with highs of around 80.6 degrees Fahrenheit and lows of 57 degrees Fahrenheit. All tourist attractions will be open and busy during the summer months.

Niagara Falls is beautiful in the winter but can be very cold. Average temperatures range from 28 degrees Fahrenheit and lows of 14 degrees Fahrenheit. As mentioned above, some tourist attractions will be closed in the Winter months, and some viewing areas will be inaccessible.

In Spring and Fall, average temperatures sit in the mid-80s degrees Fahrenheit in the shoulder seasons, but mists and breeze from the falls will make it feel cooler. Hotels and attractions will be quieter at this time of the year, and better hotel deals may be available.

Niagara Falls holds music and cultural festivals throughout the year, including the Northwest Jazz Festival at the end of August, and the Niagara Celtic Heritage Festival.

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Hiking In Milwaukee: Top 15 Milwaukee Hikes

By Author Paulina

Posted on Published: April 29, 2023  - Last updated: May 3, 2023

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.

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

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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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 .

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! 🌍🚀