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71 Available Tour Excursions in Milwaukee
Our tour blends art, street art, architecture and history to provide an informative yet interesting tour. You will be provided excellent views of Lake Michigan and various photography spots for those who love to take pictures. Our goal is to keep prices low while still offering a quality product that is fun for the entire family. The comfort and ease of having everything organized for you takes away the stress when going on holiday. Plus, the extra support and experience of a guide and the chance to travel with and meet like-minded people makes this tour much more attractive. Kenosha is an exciting and vibrant community on the shores of Lake Michigan in Southeastern, Wisconsin. Come enjoy the history and art that make up the Downtown and Harbor Park communities.
Price: $29.99
Duration: 2 hours
Ever wondered what secrets lie beneath the shifting sands of Lake Michigan? Now is your chance to find out. Join us at Simmons Island Beach for an immersive, hands-on metal detecting tour that blends local history with the thrill of the hunt. Whether you’re a curious local or a visiting treasure seeker, this experience offers a unique way to connect with Kenosha’s storied waterfront.
Price: $39.99
Duration: 2 hours
Our trips are perfect for starters or advanced sailors. We offer a 2 -hour sailing trip overlooking views of the city of Racine and on clear day views of Milwaukee and Kenosha You can lay back and relax to the sounds of the waves, or we can teach you a little about sailing and you can start working as crew. I'm a USCG boat captain along with my son Richie (21) who is a small boat sailing instructor and is my dockhand. My daughter Kayle (24) and my wife Kelley will also help out with boat duties.
Price: $95.00
Duration: 2 hours
This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am. Embark with fellow guests on an unforgettable journey through the heart of Milwaukee, where history, culture, and vibrant energy converge to create an experience like no other. From the shores of Lake Michigan to the iconic Harley-Davidson Museum, immerse yourself in the rich tapestry of this dynamic city. Explore the historic Third Ward, where cobblestone streets lead to artisan boutiques and eclectic galleries. Indulge in the delights of the city's diverse neighborhoods from the viewpoint of a local, showcasing the best of local flavors. Discover the marvels of Milwaukee's skyline, including the stunning Milwaukee Art Museum with its iconic wings. Whether you're a history buff, a restaurant lover, or an art aficionado, this Milwaukee tour promises to captivate your senses and leave you longing to uncover more of its hidden treasures.
Price: $40.00
Duration: 1-2 hours
Milwaukee is called many names; Brew City, City of Festivals, and Cream City, but it is most recognized as the place for great beer and cheese in the Upper Midwest. The large 19th century Germanic population continue to influence our local food products and dishes while some of the best restaurants from the historic Third Ward to East Town Downtown. When booking our winter exclusive Skywalk Food Tour you'll get to experience and enjoy all the best we have to offer from a warm second-story perspective. You'll get to experience and enjoy all the best we have when you book our Secret Food Tour: Milwaukee. As a private tour, everything works around you! Our start times are much more easy going, dates can open up. It's a much more intimate and cozy experience. No need to shout over other tourists, you will have every question answered, and leave feeling like a native yourself!
Price: $211.30
Duration: 3 hours
The Milwaukee Brewers might just offer the most fun, fan-focused, and flavour-packed experience in the MLB. American Family Field (aka "AmFam") is unique in the MLB with it’s giant retractable roof and a tailgate scene that rivals NFL Sundays. Rain or shine, the party is on—complete with brats, beer, and parking lot camaraderie that turns every game into a day-long event. The energy inside the stadium is just as electric. Brewers fans are loud, proud, and incredibly welcoming. When the team’s in the playoff hunt (which they often are these days), the place rocks. Plus, there's the iconic Racing Sausages mid-game tradition and Bernie Brewer sliding down from his chalet after every home run—it’s weird, it’s wonderful, and it’s uniquely Milwaukee. Top it all off with next-level ballpark food—we’re talking cheese curds, local craft brews, and the glorious bratwurst variety—and you’ve got an MLB experience that’s as much about culture and good vibes as it is about the game!
Price: $15.83
Duration: 3 hours
Why spend your precious time waiting in long shuttle or taxi lines. Avoid the language barrier and currency exchange. Travel in style from Milwaukee Airport MKE to your Hotel in Milwaukee City Center by private vehicle and reach your final destination relaxed and refreshed.
Price: $85.94
Duration: 0-0 hours
Downtown Milwaukee's growth began around the intersection of N. Water St. and E. Wisconsin Ave. but expanded quickly as the small settlement became a large city. If you are looking for an introduction to Milwaukee's history, this is the best place to start. The tour will explore this commercial district from the earliest beginnings at the river's edge all the way to the modern office buildings along Lake Michigan's shore. Stops on the tour include a variety of architectural styles including Alexander Eschweiler's Art Deco Gas Light Building (1930), the Richardsonian Romanesque style Federal Building (1892), and Northwestern Mutual's Neoclassical Headquarters (1914). This walking tour is 1 mile in length. We recommend that travelers bring (weather permitting): good walking shoes, water, sunscreen, and/or umbrella.
Price: $16.00
Duration: 1-2 hours
With 191 different blocks, it should come as no surprise that Milwaukee is known as a ‘City of Neighborhoods’. On this self-guided walking tour, you’ll be introduced to two of its most interesting suburbs, Brady Street and the Lower Eastside, and their architecture. You’ll begin by discovering the impact that Polish and Italian immigrants had on Brady Street Historic District, including delicious Italian cuisine at Sciortino’s Bakery and Glorioso’s Deli. Finally, you’ll stroll down the city’s former Gold Coast to end this tour at the Oak Leaf Trail on Prospect Avenue, giving you the opportunity to continue your Milwaukee adventure independently on the Lake Line Trail. This family-friendly tour is an easy stroll, with the option to pop inside some of the city’s most interesting churches. Come hungry, there are plenty of opportunities to grab snacks, or discover your new favorite restaurant along the route.
Price: $7.99
Duration: 1-1 hours
Our very unique, immersive adventures are the only ones of their kind. We, unlike other companies, provide your very own remote, interactive, live host to assist and encourage you along through your phone. We are an Austin, TX-based global custom event design company offering scavenger hunts and other events in 300+ cities in North America and beyond. Our specially hand-crafted adventures are equal parts tour, creative challenge, detective hunt, and social experiment! Guests get to discover in an alternate reality our favorite hidden gems off the beaten trail and creatively interpret fun art, history, and culture clues - for points! They get to enjoy fame and glory while appearing on our website’s international leaderboard, no matter what their score. They get to essentially race other teams in other cities, even if they don’t have competitors who have signed up in their city that day. Get ready to discover unusual oddities, laugh out loud, and make the experience your own!
Price: $29.00
Duration: 2 hours
Shakers Cigar Bar is housed in a preserved 1894 building with a deeply layered past, including its time as a Prohibition-era speakeasy and brothel. Unlike typical ghost tours that move quickly from stop to stop, this experience is rooted in a location that has carried its stories for over a century. Guests don’t just hear about history—they step into it. The tour blends documented history with firsthand accounts, creating an experience that feels immersive rather than theatrical. The atmosphere of the building itself plays a central role, offering a level of depth and realism that can’t be replicated elsewhere. It’s not just a ghost tour—it’s a chance to experience one of Milwaukee’s most storied spaces from the inside.
Price: $90.00
Duration: 1 hours
Brew City Kayak's Cheese Curd Tour is about 4 hours long from 11:15 am to 3:15 pm. We launch from 820 South Water St, in the Walker's Point neighborhood. Each participant can expect a life jacket, paddle, paddle instruction, and cheese curds included in the tour price! Your guide will take you to 2-3 stops along the river system, showcasing Milwaukee, our history, and our cheese. (While cheese is included, other food and beverage items are not included in the tour cost.) **Tour stops may vary depending on timing and group interest.
Price: $175.00
Duration: 4 hours
Get to know one of Milwaukee‘s most haunted neighborhoods, Westown, and discover why Marquette University is considered one of the nation‘s most haunted schools. On this self-guided walking tour, you‘ll visit eleven haunted locations and hear some of Milwaukee‘s most spook-tacular tales! Starting in front of the Milwaukee Public Museum, you‘ll stroll around Marquette Campus and along Wisconsin Ave to Straz Tower, where our tour ends. Along the way, you‘ll meet some of Milwaukee‘s most famous ghosts, including a professor who continues to report to work, and a home-proud beer baron. You‘ll also see the site of one of the city‘s most notorious murders. Lace up your shoes and join me in discovering the haunted side of this historic neighborhood. This family-friendly hour-long walk does contain content that may be disturbing, including details of murders, mentions of suicide and accidental deaths. Please use caution when selecting this tour for very young or sensitive audiences.
Price: $8.99
Duration: 1-1 hours
Hop on your pedal assist e-bike and get a helpful push as you ride about 15 miles through the best of Milwaukee. See what makes the city amazing and distinct. Ride through historic neighborhoods with differing architecture and traditions. See church steeples in every direction, each one telling an immigration story. Marvel at our 8 million brick city hall, an icon of our socialist legacy. Cruise paths that connect an astounding 15,000 acres of parks. Cross over valleys that are home to both industrial giants and urban wilderness. Understand the critical role water plays in the city’s past and future as you enjoy gorgeous lake and river views. You’ll ride the whole, not just old, Milwaukee.
Price: $79.00
Duration: 3 hours
Brew City Kayaks offers kayak rentals for people who want to explore the Milwaukee River at their own pace. Rent a Single Kayak for up to 4 hours for only $55! Along your paddle you will discover the beautiful City Skyline and have the opportunity to stop and get out of your kayak. Many kayakers enjoy stopping at one of the many local breweries or restaurants along the river. Our kayaks are sit-on-top style which are safer, easier to get in and out of, and perfect for holding a cooler. Life vests and instruction are provided.
Price: $55.00
Duration:
Tap into Milwaukee's famous attractions and history as well as other sights you may not have known existed. Don't just see Milwaukee, experience it!
Price: $47.00
Duration: 2 hours
Milwaukee is a city shaped by its waterways, its waves of immigrants, and its bold spirit-famous for its German heritage, its brewing traditions, and its knack for reinvention over nearly two centuries. Our journey today starts at Wisconsin Historical Marker three three three, which marks the heart of old Kilbourntown, walk through stories of rivalry, resilience, and remarkable change, all the way to the bustling Milwaukee Public Market in the Historic Third Ward. Go at your own pace. The tour never expires. This is a hand free experience, press play and put your phone in your pocket. The tour is location aware, and plays as you walk. It never expires.
Price: $9.75
Duration: 1-1 hours
On the campus of the Milwaukee School of Engineering, the Grohmann Museum is unique in that it's the only museum of its kind in the country, and perhaps the world. Nowhere else will you find a collection and exhibition program dedicated to the art of labor, engineering, and human achievement.
Price: $5.00
Duration: 1-3 hours
Key Info for Visitors
- Currency: USD
- Languages: German
- Climate: Humid Continental
- Timezone: America/Chicago
- Population: Approximately 570,000
- Best Time to Visit:
- Visa Requirements Milwaukee follows US visa policy. Citizens of the US, Canada, and most Western European countries (EU, UK) can visit visa-free for up to 90 days under the Visa Waiver Program if arriving by air or sea. Others may require a visa or ESTA approval before travel. Always check current requirements before booking.
About Milwaukee
Milwaukee is a dynamic city on the western shore of Lake Michigan, blending industrial heritage with modern innovation. Known as the "Cream City" for its cream-colored brick buildings, Milwaukee offers a unique mix of Midwestern charm and urban sophistication. Visitors are drawn to its rich brewing history, lively arts scene, and scenic lakefront. The city is home to world-class museums, beautiful parks, and a thriving food and craft beer culture. Milwaukee’s festivals, such as Summerfest—the world’s largest music festival—add to its appeal. Whether you’re interested in history, outdoor recreation, or simply enjoying a cold beer by the lake, Milwaukee provides a welcoming and memorable experience for all types of travelers.
Milwaukee Tours & Experiences
- Top Attractions: Highlights of Wisconsin
- Duration Range: Custom Durations
- Group Size: Small groups (up to 15 people)
- Difficulty Level: Easy to Moderate
- Recommended For: Visit between May and October for the best weather and festival season. Pack layers, as temperatures can vary. Milwaukee is generally safe, but use common sense in urban areas. Credit cards are widely accepted, but carry some cash for small vendors. Tipping is customary in restaurants and for services.
Average Tour Price: $95
Lowest Price Tour: $50
Highest Price Tour: $180
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2. Check Details
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4. Enjoy Your Experience
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Important Tour Information
- Bring comfortable walking shoes and appropriate clothing
- Check tour cancellation and refund policies
- Arrive at the meeting point at least 15 minutes early
- Carry valid identification and tour booking confirmation
Top Attractions
1. Milwaukee Art Museum: Iconic architecture and impressive art collections, including works by Georgia O’Keeffe and Andy Warhol. 2. Harley-Davidson Museum: Celebrates the history and culture of the legendary motorcycle brand. 3. Lakefront Brewery: Offers tours and tastings, showcasing Milwaukee’s brewing heritage. 4. Milwaukee Public Market: A bustling indoor market with local food vendors and artisan goods. 5. Mitchell Park Horticultural Conservatory (The Domes): Three unique glass domes featuring exotic plants and seasonal displays.
Popular Activities
Explore the Milwaukee RiverWalk, a scenic pathway along the river with public art and dining. Enjoy lakefront activities such as biking, boating, and visiting Bradford Beach. Experience the city’s vibrant music and arts scene at venues like the Pabst Theater. Join a brewery tour to sample local craft beers. Attend one of Milwaukee’s many festivals, including Summerfest, German Fest, or the Wisconsin State Fair.
Frequently Asked Questions
Local Food & Cuisine
Milwaukee’s food scene is a delicious blend of German, Polish, and American influences. Signature dishes include bratwurst, cheese curds, and butter burgers. Don’t miss a fish fry on Fridays, a local tradition. Notable restaurants include Mader’s for German cuisine and Lakefront Brewery for pub fare and beer. The city also boasts a growing craft beer and cocktail scene.
Getting Around
Milwaukee is accessible by air via Milwaukee Mitchell International Airport, by train (Amtrak), or by car. The city has a reliable bus system (MCTS), and rideshare services are widely available. Biking is popular, especially along the lakefront. For exploring beyond downtown, renting a car is convenient but not essential for most tourist activities.
Travel Tips
Visit between May and October for the best weather and festival season. Pack layers, as temperatures can vary. Milwaukee is generally safe, but use common sense in urban areas. Credit cards are widely accepted, but carry some cash for small vendors. Tipping is customary in restaurants and for services.
Culture & Customs
Milwaukee is known for its friendly, down-to-earth residents. The city celebrates its German and Polish heritage with festivals and traditional foods. Social etiquette is relaxed, but politeness is appreciated. Major events include Summerfest, German Fest, and Polish Fest. Locals take pride in their sports teams, especially the Milwaukee Brewers (baseball) and Bucks (basketball).
About The Author
Calvin has loved travel and adventure since first visiting Los Angeles with a suitcase in 1992 at the age of 20. He ditched the suitcase and got a backpack pretty fast.
He hates leaving after any trip and has to console himself by writing and sharing articles on it. You can find and connect with him on linked in here.
Likes
Travel, Gaming, Scuba Diving, Skiing and anything to do with water.
Dislikes
Exact luggage sizing police and being tired in an airport and many more..