05 March 2025

Best Day Trips from Milwaukee​

Day trips from Milwaukee with lake, forest, and town.

Milwaukee, nestled on the shores of Lake Michigan, offers an excellent base from which to explore some of the most captivating destinations in the Midwest. Whether you prefer serene nature retreats or bustling urban centres, the region surrounding Milwaukee is teeming with opportunities for memorable day trips. From picturesque towns to historic landmarks and lush outdoor spaces, there is something for everyone to enjoy within a short drive of the city.

These destinations allow visitors to escape the hustle of daily life and immerse themselves in Wisconsin’s unique charm and diverse offerings. If you are planning a journey, these suggestions for the best day trips from Milwaukee will inspire your itinerary and ensure a rewarding experience, whatever your preferences may be.

TABLE OF CONTENTS

1. Best Destinations for a Day Trip

1.1 Lake Geneva, Wisconsin

  • Distance from Milwaukee: 50 miles
  • Driving Time: Approximately 1 hour
  • Location: Lake Geneva, Wisconsin
  • Highlights: Geneva Lake Shore Path, Riviera Beach, historic tours, boating, dining

Situated just 50 miles southwest of Milwaukee, Lake Geneva is an idyllic destination that offers a perfect blend of relaxation and outdoor adventure. Known for its stunning waterfront scenery and charming small-town atmosphere, Lake Geneva is a favorite amongst residents and visitors alike.

At the center of the area’s attractions lies the Geneva Lake Shore Path, a 21-mile pathway encircling the lake, offering unparalleled views of luxurious estates and natural landscapes. For family-friendly activities, the sandy Riviera Beach is a prime spot for relaxation and swimming. Additionally, the historic Riviera Ballroom, built in 1932, is a landmark worth exploring.

Visitors can also enjoy scenic boat tours departing from Riviera Docks, providing insights into the history and architecture of the region. Outdoor enthusiasts will find kayaking, paddleboarding, and fishing opportunities readily available. Food aficionados can explore the array of local eateries, from fine dining to lakefront cafés.

Whether you are interested in exploring the town’s quaint boutiques, indulging in water-based activities, or unwinding in picturesque surroundings, Lake Geneva guarantees a fulfilling day trip experience.

1.2 Madison, Wisconsin

  • Distance from Milwaukee: 79 miles
  • Driving Time: Approximately 1 hour and 30 minutes
  • Location: Madison, Wisconsin
  • Highlights: Wisconsin State Capitol, University of Wisconsin-Madison, Olbrich Botanical Gardens, Lake Mendota, local farmers’ market

Located 79 miles west of Milwaukee, Madison, the capital city of Wisconsin, offers a vibrant combination of culture, history, and scenic beauty, making it an ideal day trip destination. With its iconic landmarks, interactive activities, and picturesque surroundings, Madison caters to a wide range of interests.

A must-see attraction is the Wisconsin State Capitol, a magnificent architectural landmark featuring guided tours that highlight its rich history and stunning dome, which rivals the U.S. Capitol. Nature enthusiasts will enjoy spending time at the Olbrich Botanical Gardens, showcasing themed gardens and a unique Thai pavilion. Visitors can also explore the University of Wisconsin-Madison campus, which is home to cultural exhibits and the scenic Lakeshore Path along Lake Mendota.

Madison is renowned for its local food scene and hosts one of the best farmers’ markets in the nation, the Dane County Farmers' Market, which takes place around the Capitol Square. With its mix of urban energy and natural landscapes, Madison offers a dynamic yet relaxing day trip experience, suitable for families, couples, and solo travelers alike.

1.3 Door County, Wisconsin

  • Distance from Milwaukee: 150 miles
  • Driving Time: Approximately 2 hours and 30 minutes
  • Location: Door County, Wisconsin
  • Highlights: Peninsula State Park, quaint villages, Door County lighthouses, fish boils, cherry orchards

Located roughly 150 miles northeast of Milwaukee, Door County is a captivating destination that boasts scenic landscapes, charming small towns, and a distinctive maritime heritage. Stretching across a peninsula with access to both Green Bay and Lake Michigan, Door County offers an abundance of activities for day-trippers seeking both relaxation and adventure.

A visit to the famous Peninsula State Park, spanning over 3,700 acres, provides opportunities for hiking, cycling, and panoramic views from the Eagle Bluff Lighthouse or the observation tower. The county is also renowned for its historic lighthouses, with several—such as Cana Island Lighthouse—welcoming visitors for tours.

Distinctive to the area are Door County’s traditional fish boils, a quintessential culinary experience available at many of the region’s eateries. Additionally, seasonal cherry and apple orchards invite visitors to pick their own fruit or sample homemade goods. The charming villages of Ephraim, Fish Creek, and Sister Bay each offer their own unique blend of galleries, artisan shops, and waterfront dining.

Whether you are exploring coastal trails, enjoying local delicacies, or uncovering the area’s maritime past, Door County guarantees a fulfilling escape from Milwaukee’s urban bustle.

1.4 Chicago, Illinois

  • Distance from Milwaukee: 90 miles
  • Driving Time: Approximately 1 hour and 30 minutes
  • Location: Chicago, Illinois
  • Highlights: Millennium Park, Art Institute of Chicago, Navy Pier, Chicago Riverwalk, Willis Tower

A journey of just 90 miles south takes you to Chicago, Illinois, commonly known as the “Windy City.” This bustling metropolis offers an abundance of urban attractions, making it an excellent choice for a diverse day trip from Milwaukee. Known for its iconic skyline and cultural landmarks, Chicago has something to offer every visitor, from art and architecture enthusiasts to food lovers.

At the heart of the city lies the famed Millennium Park, home to the striking Cloud Gate sculpture, also known as "The Bean." Nearby, the Art Institute of Chicago houses a world-class collection of art, including iconic works like “Nighthawks” by Edward Hopper. For panoramic views of the cityscape, head to the Willis Tower Skydeck, offering a glass ledge experience 1,353 feet above ground.

Chicago’s waterfront attractions, like the vibrant Navy Pier with its shops, restaurants, and Ferris wheel, are perfect for leisurely strolls. The scenic Chicago Riverwalk offers an in-depth perspective of the city's impressive architecture, with boat tours available year-round. Food enthusiasts can indulge in Chicago's culinary staples, such as deep-dish pizza or a Chicago-style hot dog.

With its extensive mix of cultural, historical, and recreational options, Chicago provides a lively and memorable getaway for visitors seeking an urban adventure.

1.5 Kettle Moraine State Forest

  • Distance from Milwaukee: 40 miles
  • Driving Time: Approximately 50 minutes
  • Location: Kettle Moraine State Forest, Wisconsin
  • Highlights: hiking trails, Ice Age National Scenic Trail, camping, scenic viewpoints, outdoor recreation

Located just 40 miles northwest of Milwaukee, the Kettle Moraine State Forest offers an ideal destination for nature enthusiasts and outdoor adventurers. Spanning over 22,000 acres, this glacially-sculpted landscape is celebrated for its rugged terrain, woodland trails, and serene lakes.

At the heart of the forest lies the iconic Ice Age National Scenic Trail, which weaves through the region for hikers of all skill levels to explore its impressive glacial formations. The forest is divided into smaller units, such as the Southern Unit, which is popular for its diverse trail systems, including the challenging Bald Bluff Trail offering panoramic views from its summit.

Other activities include camping, birdwatching, and fishing in its well-maintained recreational areas. The forest features designated picnic spots for families, while winter months transform the trails for cross-country skiing and snowshoeing. Visitors can also enjoy Crystal Lake and Ottawa Lake for kayaking and swimming.

Offering tranquility and adventure, Kettle Moraine State Forest is an easy escape from Milwaukee’s urban setting, creating lasting memories for lovers of the great outdoors.

1.6 Cedarburg, Wisconsin

  • Distance from Milwaukee: 20 miles
  • Driving Time: Approximately 30 minutes
  • Location: Cedarburg, Wisconsin
  • Highlights: historic downtown, Cedar Creek Winery, Covered Bridge Park, art galleries, festivals

Located a mere 20 miles north of Milwaukee, Cedarburg is a charming small town renowned for its well-preserved historic district and vibrant cultural scene. This picturesque destination transports visitors to a bygone era with its cobblestone streets, 19th-century limestone buildings, and boutique shops.

A key attraction in Cedarburg is the Cedar Creek Winery, situated within a restored 1860s woolen mill. Here, visitors can enjoy wine tastings and tours while admiring the scenic backdrop. For history enthusiasts, the Cedarburg History Museum offers insights into the town's past through exhibits and artifacts.

Outdoor lovers often visit the nearby Covered Bridge Park, home to Wisconsin’s last surviving covered bridge, perfect for leisurely strolls and picnics. The town also houses numerous art galleries and studios, showcasing works by local artisans. Cedarburg’s festivals, such as the Strawberry Festival in summer and the Winter Festival, further enhance its appeal, drawing visitors year-round.

With its rich blend of history, culture, and natural beauty, Cedarburg makes for an enchanting day trip destination that is both relaxing and enriching.

1.7 Lake Michigan Shoreline

  • Distance from Milwaukee: 0-40 miles (depending on desired spot)
  • Driving Time: 10 minutes to 50 minutes
  • Location: Lake Michigan Shoreline
  • Highlights: beaches, hiking trails, water sports, Kohler-Andrae State Park, scenic drives

The Lake Michigan Shoreline, accessible as close as Milwaukee’s eastern edge or further north along the coast, offers a diverse array of activities, perfect for an impromptu day trip. Stretching across vast areas, this location provides both tranquil retreat options and exciting recreational activities that cater to a wide range of preferences.

Among the most popular spots is Kohler-Andrae State Park, located approximately 40 miles north in Sheboygan. This scenic park is celebrated for its dune landscapes, miles of sandy beaches, and a series of hiking trails like the Dunes Cordwalk, which showcases Lake Michigan’s natural beauty. It’s a fantastic destination for swimming, picnicking, and birdwatching.

Closer to Milwaukee, Bradford Beach is an excellent choice, offering vibrant city views alongside relaxation opportunities. Kayaking, paddleboarding, and beach volleyball are commonly enjoyed here. For those who prefer a leisurely drive, the Lake Michigan Circle Tour showcases breathtaking roadside views.

With its combination of water-based activities, picturesque scenery, and opportunities to unwind, the Lake Michigan Shoreline allows visitors to fully appreciate this natural asset without venturing far from Milwaukee.

1.8 Old World Wisconsin

  • Distance from Milwaukee: 38 miles
  • Driving Time: Approximately 50 minutes
  • Location: Old World Wisconsin, Eagle, Wisconsin
  • Highlights: historic farmsteads, costumed interpreters, interactive exhibits, seasonal events

An immersive journey into Wisconsin’s 19th and early 20th century comes to life at Old World Wisconsin, a historically significant outdoor museum located just 38 miles southwest of Milwaukee in Eagle, Wisconsin. This sprawling 600-acre site preserves and celebrates the state’s diverse cultural heritage, making it a compelling day trip destination for history enthusiasts and families alike.

The museum is organized into several distinct villages and farmsteads, meticulously reconstructed to reflect the lives of early European settlers who played a crucial role in Wisconsin’s development. Visitors can explore historic homes, barns, and workshops while interacting with knowledgeable costumed interpreters who demonstrate period-specific activities such as blacksmithing, cooking, and farming techniques.

Interactive exhibits and hands-on experiences, including activities like churning butter or learning traditional crafts, provide a deeper appreciation of the region’s rural past. Additionally, the museum hosts seasonal events such as autumn harvest festivals and winter holiday celebrations, which make repeat visits worthwhile.

With its combination of education, entertainment, and stunning natural surroundings, Old World Wisconsin offers a memorable and enriching escape just under an hour away from Milwaukee.

1.9 Holy Hill National Shrine

  • Distance from Milwaukee: 35 miles
  • Driving Time: Approximately 40 minutes
  • Location: Holy Hill National Shrine, Hubertus, Wisconsin
  • Highlights: Basilica, scenic views, hiking trails, pilgrimage site

Perched on a hilltop 35 miles northwest of Milwaukee in Hubertus, Wisconsin, the Holy Hill National Shrine offers a tranquil and spiritual escape surrounded by natural beauty. This Roman Catholic basilica is a celebrated pilgrimage site and serves as a beacon for visitors seeking both religious significance and stunning landscapes.

The basilica features breathtaking architecture, highlighted by its twin spires and intricate interior design. One of its key attractions is the opportunity to climb the 178-step observation tower, rewarding visitors with panoramic views of the Kettle Moraine region, particularly vibrant during autumn when the rolling hills are ablaze with color.

Beyond its religious importance, Holy Hill is surrounded by peaceful hiking trails that allow visitors to explore the serene woodlands and enjoy natural solitude. The shrine also hosts seasonal events, including guided tours and religious celebrations, enhancing the experience for both spiritual seekers and casual tourists alike.

Whether visiting for prayer, reflection, or simply to admire the scenery, Holy Hill National Shrine is a compelling day trip destination that combines historical significance, architectural beauty, and an idyllic natural setting in close proximity to Milwaukee.

1.10 Sheboygan, Wisconsin

  • Distance from Milwaukee: 55 miles
  • Driving Time: Approximately 1 hour
  • Location: Sheboygan, Wisconsin
  • Highlights: Kohler-Andrae State Park, art galleries, Blue Harbor Resort, Sheboygan Riverwalk, local breweries

Located 55 miles north of Milwaukee, Sheboygan combines lakeside tranquility with a vibrant cultural scene, making it an appealing option for an enriching day trip. Known as the “Malibu of the Midwest,” it is a hotspot for water sports and outdoor leisure activities along Lake Michigan, while also offering diverse attractions within the town itself.

For nature lovers, Kohler-Andrae State Park is a must-visit. Its sandy beaches, dune forests, and the Dunes Cordwalk trail provide picturesque views and opportunities for hiking, swimming, and picnicking. Those interested in art and culture will appreciate a visit to the John Michael Kohler Arts Center, which showcases contemporary art alongside historic collections.

The Sheboygan Riverwalk offers peaceful waterside strolls, boutique shopping, and access to restaurants serving locally sourced dishes. Families often head to the Blue Harbor Resort, which features an indoor waterpark and direct beach access. Additionally, Sheboygan is home to several acclaimed craft breweries, offering tastings of some of the finest local beer.

Whether you are exploring the natural beauty of the shoreline, engaging in recreational water activities, or immersing yourself in art and cuisine, Sheboygan provides a well-rounded escape that is just an hour’s drive from Milwaukee.

2. Frequently Asked Questions

2.1 What is the best time to plan a day trip from Milwaukee?

The ideal time for a day trip from Milwaukee largely depends on your destination and preferences. Generally, late spring (May–June) and early autumn (September–October) offer pleasant weather, fewer crowds, and stunning scenery like blooming landscapes or autumn foliage. Summer provides opportunities for outdoor activities, while winter appeals to those enjoying snow sports and festive events. Always check seasonal schedules for attractions.

2.2 Are there family-friendly destinations near Milwaukee for a day trip?

Milwaukee is surrounded by numerous family-friendly destinations that make for an enjoyable day trip. Visit Lake Geneva for Riviera Beach and boat tours, or explore Old World Wisconsin for interactive exhibits and historic farmsteads. The thrilling indoor waterpark at Blue Harbor Resort in Sheboygan is perfect for kids, while families can also enjoy hiking and picnicking at Kohler-Andrae State Park.

2.3 How far is Chicago from Milwaukee, and can it be a day trip?

Chicago is approximately 90 miles south of Milwaukee, which equates to a 1.5-hour drive by car via Interstate 94. As an alternative, visitors can utilise Amtrak services, offering a relaxed journey of similar duration. Its proximity makes Chicago an ideal day trip destination, allowing ample time to explore highlights such as Millennium Park, Navy Pier, and the Art Institute of Chicago before returning to Milwaukee.

2.4 What transportation options are best for day trips from Milwaukee?

Milwaukee offers versatile transportation options for day trips. Travelling by car provides the most flexibility, with numerous destinations accessible within a two-hour drive. For a hassle-free journey to cities like Chicago, the Amtrak Hiawatha Train service is a convenient choice. Alternatively, scenic routes or charter bus tours cater to those seeking a relaxed experience. Bicycle trails are ideal for nearby excursions.

2.5 What are some scenic outdoor spots near Milwaukee for a day trip?

Milwaukee offers access to captivating outdoor destinations ideal for a day trip. Explore the glacial terrain of Kettle Moraine State Forest, featuring rugged trails like the Ice Age National Scenic Trail. Head to Holy Hill National Shrine for its panoramic observation tower. The Lake Michigan Shoreline, with Kohler-Andrae State Park, boasts picturesque beaches and hiking, perfect for relaxation or adventure.

2.6 Do I need reservations for visiting these destinations?

Reservation requirements depend on the destination and season. Places like Old World Wisconsin and Holy Hill National Shrine usually don't require pre-booking, but guided tours or seasonal events may benefit from early reservations. For popular locations such as dining in Lake Geneva or accommodations in Door County, advance booking is recommended, especially during peak times. Always verify each destination's policy beforehand.



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