Top Wisconsin Historical Tours

Milwaukee is known for its beer, brats, baseball, and lakefront scenery, but it offers much more than most travelers realize. Learn about the city through the eyes of a resident guide on this Milwaukee sightseeing tour, see famous attractions, trendy neighborhoods, an art-filled alley, and so much more—including a bronze statue of the Fonz of “Happy Days” fame.

As seen on BBC, NBC, and featured on Netflix’s Dark Tourist, this is one of the most talked-about true crime tours in the world. The Cream City Cannibal Tour explores one of Milwaukee’s most infamous criminal cases—walking through the exact neighborhood where multiple events connected to a notorious serial killer took place. This is not a casual history tour. Through guided storytelling, guests are led through the psychological, cultural, and real-world impact of the case, offering insight into how it unfolded and why it continues to be studied today. The tour has even been referenced in academic settings, including university psychology and criminal justice programs. Expect a deeper, more intense experience—focused on understanding, not sensationalizing. Outdoor tour. Rain or shine. Not recommended for those sensitive to true crime content.

Prebook this Grohmann Museum Skip-the-Line Admission Ticket to bypass the lines at the museum on the busy school campus and head inside to explore its collections and exhibits. The museum showcases the art of labor, engineering, and human achievement while and offering a unique display you won’t find anywhere else. This admission ticket is perfect for groups that want to explore but who are also on a budget.

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.

Unveil the dark history of Brew City with this ghost tour of the city’s most haunted locations. Meet your guide for a ghoul-fueled stroll through the heart of Milwaukee to take in spirit-infested historic hotels, theaters, and even skyscrapers. Be entertained by bone-chilling ghost stories and tales of paranormal activity as you delve into Milwaukee’s ghoulish past.

Take a step back in time on this docent-led tour of the Hearthstone Historic House Museum in Appleton. It’s the first house in the world that was lit by a Thomas Edison central hydroelectric power station; see the original fixtures inside the house for yourself. As you tour the rooms and educational exhibits, your docent shares fascinating stories about Appleton history.

Discover the natural and maritime heritage of southern Door County on this self-guided driving tour. Journey through Carlsville and follow the Sturgeon Bay Canal, where you'll learn how this engineering marvel reshaped the region’s shipping industry. Pass the bustling shipyards of Sturgeon Bay and spot the Coast Guard station that still protects these waters. Along the way, hear about Native American settlements, Scandinavian influences, and Door County’s cherry orchards. Take in stunning views at Whitefish Dunes, Cave Point, and historic lighthouses. There are plenty of opportunities to stop your car and explore on foot, uncovering the rich stories behind the scenic spots. By the end of this journey, you’ll have a deeper appreciation for the beauty, history, and resilience of Door County. Whether you're here for a day trip or a weekend getaway, you’ll leave with a newfound understanding of this remarkable place, and with plenty of ideas for what to explore next.

Highway 61 runs the length of Lake Superior's North Shore, and without local knowledge, the best waterfalls and overlooks are easy to drive past. This GPS-enabled, app-based audio tour guides you as you drive, pinpointing sights such as Gooseberry Falls and the Glensheen mansion. Cell service drops out along much of this road, so the whole tour works offline too.

Madison's original ghost tour. This haunted history walking tour of Madison’s historic Capitol Square will give you a unique perspective on the history of the city. Your guides are expert storytellers who will let you in on the ghost stories, urban legends, and paranormal activity that are sprinkled throughout Madison’s past. This is an outdoor walking tour, so please check the weather before coming and dress accordingly. The tour runs in cold temperatures and light rain. Please wear walking shoes and dress appropriately for walking around outside.

One of the most haunted bars in the nation, Shaker’s Cigar Bar—a Milwaukee institution formerly owned by the infamous Al Capone—has a history as wild as its ghostly encounters. On this small-group tour, explore behind the scenes, hearing stories about its Prohibition-era connections, the bar's cemetery and brothel past, and accounts of lingering spirits. Part history tour, part paranormal experience, this tour is not for the faint of heart.

Kick off your morning with a guided e-bike tour around Milwaukee. Covering about 15 miles, you’ll ride through historic neighborhoods and scenic parks, with stops including the North Point Lighthouse and Villa Terrace Museum and Gardens. Capped at eight for a personalized experience, this tour is a fun, active way to pack in plenty of sightseeing. Hear facts and insights from your guide along the way.

Discover the best of Door County, Wisconsin as you embark on a day trip to the area’s top landmarks. Join a small group and spend the day exploring outdoor areas like Whitefish Dunes State Park, Cave Point County Park, and Ellison Bluff. Other points of interest include Sturgeon Bay, Egg Harbor, Sister Bay, Ephraim, and Baileys Harbor.

Hear about all the haunts of Bayfield on this group walking tour, where your guide tells you all about the ghoulish stories surrounding the city. You tour the city, stopping at cursed houses, places haunted with spirits, and hear stories about infamous men in white, the cursed courthouses, and much more.

Explore Milwaukee’s criminal underworld on the Mobsters and Mafia Tour, a guided walking experience that uncovers the rise and fall of the Milwaukee Mob and the powerful Balistrieri crime family. Visit historic locations while discovering how organized crime, political influence, and underground enterprises shaped the city throughout the 20th century. Hear captivating stories of power, loyalty, corruption, and betrayal as your guide reveals the real people and events behind one of Milwaukee’s most fascinating chapters. While the tour touches on the city’s Prohibition-era roots, its primary focus is the Milwaukee Mob and the figures who dominated the city’s underworld from the 1960s through the 1980s. Perfect for history enthusiasts, true crime fans, and curious travelers seeking a side of Milwaukee few visitors ever discover.

Use the Built in EMF reader and see if there are spirits nearby. Along the way You will see classic landmarks like the Knight House, the Old Rittenhouse Inn, and the Carnegie Library, hear stories about ghostly innkeepers, toe‑tickling librarians, and a trench‑coated wanderer, like the mysterious “Irene” said to slam doors and stroll the Blue Room at Greunke’s as if check‑out time never came. Go at your own pace, anytime. the tour is on our walking tour app. The app provides a built in EMF reader you can use anytime by clicking the EMF button. The tour never expires. Listen again anytime.

Get to know some of the darker corners of Milwaukee’s history on this small-group walking tour of the city’s downtown. You’ll enjoy hearing haunting tales associated with famous Milwaukee landmarks like the Pfister Hotel, City Hall, and the Pabst Theater as your guide leads you through the Cream City evening.

If you've already seen most of the sights of Milwaukee, get a different perspective on the city with this haunted history walking tour of Lake Geneva. As you stroll in a small group, your guide will fill you in on all the colorful history and characters, from haunted mansions and vengeful spirits to lake monsters and more.

Jutting into Lake Michigan, Door County has hundreds of miles of great views—and they’re all greatest from the water. You’ll get to sit back and enjoy them on this leisurely cruise along Sister Bay's north shore, witnessing towering bluffs, bird rookeries, tiny islands, and more. Your captain will also regale you with tales of the area’s fishing heritage and wild shipwrecks, deepening your appreciation of this gorgeous Wisconsin spot.

The Historic Third Ward was the first stop for many of Milwaukee's European immigrants, particularly the Irish and later the Italians. Close to cheap housing and available jobs, these new arrivals created close-knit communities. Like most major industrial cities, the Third Ward had a significant and destructive fire in 1892, which reshaped the landscape to much of what you see today. In the 1970s, this area experienced a resurgence that transformed factories and warehouses into condos and mixed adaptive reuse. On this tour, learn about the neighborhood landscape as well as the Irish and Italian immigrants as well as the impact of the LGBTQ+ community and other residents. Stops include the Milwaukee Public Market (2005), Milwaukee Institute of Art and Design (MIAD) (1974), and Commission Row (1894). This walking tour is 1 mile in length. Travelers are recommended to bring (weather permitting): good walking shoes, water, sunscreen, and/or umbrella.

See the natural splendor of Fish Creek in Wisconsin’s beloved Door County from the comfort of a Segway on this fun and unique guided tour. You’ll see all the charming town’s highlights, from the scenic Niagara Escarpment to Peninsula State Park to the tony Millionaire’s Row to the Alibi Dock Marina bobbing with boats. Finish at the stunning Sunset Beach State Park and understand why it has that name if you go at the right time of day.

You’re never too old to get on an e-scooter—especially when it sends you deep into nature. On this tour, you’ll follow your guide along Door County’s best backroads, getting away from the crowds and into North Fish Creek and the Ephraim Wetlands. Practically effortless to learn, you’ll glide along at speeds above 19 miles an hour, making the most out of your time in Wisconsin’s most picturesque county.

Skip the standard walking tour and get an upgrade—one you can take on your own time, even at home. Using just your smartphone, you’ll have your guide in your pocket, taking you across the city’s eras, from lumber and steamboats to opera houses and more. Complete the 30-topic audio tour in 90 minutes, or stop and start as you like. You can even hop on virtually at home.

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.