All Milwaukee Tours & Excursions in 2026

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.

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!

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.

Set sail around Lake Michigan on this private adventure tour. With the safety of a life jacket and boat captain, spend two hours enjoying a smooth sail along the calming waters, soaking up city views of Milwaukee, Kenosha, and Racine. You also have the opportunity to spot local wildlife like lake trout, sandhill cranes, and otters.

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.

The Midwestern city of Milwaukee is known for its beer and cheese and this walking food tour gives you a taste of the best. Join a small group and enjoy a walk through "Brew City" to sample a number of beers and regional snacks. Learn about the 19th-century Germanic population that immigrated to the area and its influence on today's local cuisine.

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.

Set on a bluff, overlooking the northern point of Milwaukee’s harbor, this neighborhood boasts an incredible collection of mansions from the early twentieth century. The tree-lined blocks feature a variety of styles including German Renaissance Revival, English Tudor Revival, Mediterranean Revival and others popular from 1890-1940. The houses were designed by some of the most notable Milwaukee architects including Eschweiler, Clas, Niedecken and even Wisconsin’s own Frank Lloyd Wright. Beyond the architectural details, the neighborhood’s past residents include many prominent Milwaukeeans who made money in wheat, railroads, straw hats, fur coats, ice cream and more. The tour also includes non-residential neighborhood landmarks like a historic hospital complex, water tower and lighthouse, as well as a Frederick Law Olmsted designed park. This walking tour is 1.4 miles in length. We recommend bringing (weather permitting): good walking shoes, water, sunscreen, and/or umbrella.

Guests will learn about Milwaukee’s thriving brewpub scene and visit four separate breweries, tasting up to 16 different beers on this guided brewery tour with a snack. Visit some of Milwaukee's most popular brewpubs, including Lakefront Brewing, Broken Bat Brewing Co, Ope!, Gathering Place, and Wizard Works, to name a few. Round trip transportation by bus in downtown Milwaukee is included. Please try to book your tour at least 72 hours in advance of the tour to confirm availability. Tours book up quickly, and tours booked inside this window may not have room.

Like many communities in the industrial Midwest, Milwaukee’s ecological legacy has a significant period of pollution. Thankfully, in the late 1980s & early 1990s, driven by Mayor John Norquist and others, Milwaukee dedicated resources to water clean up and the reinvigoration of the buildings along the Milwaukee River. This reinvestment included the creation of a public-private partnership known as the Riverwalk (1993). Today, the Riverwalk extends 3.1 miles along both sides of the Milwaukee River, from the site of the former North Avenue Dam, through Downtown and the Historic Third Ward to Lake Michigan. The tour will explore the industries and early city growth that impacted the river so greatly and also a number of the historic buildings along the way. You’ll also learn about some of the temporary and permanent public art on display. This walking tour is 1.2 miles in length. We recommend that travelers bring: good walking shoes, water, sunscreen, and/or umbrella.

Tour an upcoming and historic neighborhood just on the outside of downtown like a local would! Local and friendly drivers to take you along our well-known route. Experience a unique way to travel around with pedal power! Fun and different experience on the tavern as you cheer your crew, and make memories and friends along the scenic river and downtown! 21+ Tour

Step back into Milwaukee’s Prohibition era and uncover a world of speakeasies, madams, gangsters, corruption, and scandal. The Whorin’ 20s Walking Tour explores the city’s notorious vice district during the Roaring Twenties, when bootleggers, brothel owners, politicians, and organized crime figures helped shape Milwaukee’s nightlife and underground economy. Led by expert storytellers, this entertaining and historically grounded walking tour reveals the hidden stories behind the city’s most colorful characters and forgotten locations. Along the way, guests will discover how Prohibition transformed Milwaukee and why the era continues to captivate visitors nearly a century later. Perfect for history enthusiasts, groups, couples, bachelorette parties, and anyone looking for a different side of Milwaukee beyond breweries and ballgames. Bride goes free with qualifying bachelorette party reservations.

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.

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!

See the sights of Milwaukee while learning facts about the city's history, art, and architecture on an entertaining and interactive scavenger hunt. This app-based game leads you through the city, challenging you with trivia questions and tasks as you pursue the items on your list. This is a fun group activity for team building, parties, or anyone looking for a playful and memorable way to get to know Milwaukee.

Our guided City Skyline Kayak Tours are 1.5–2 hours long and follow the Milwaukee River up towards downtown Milwaukee. We do not make any stops along the way for this tour, but we do provide details about Milwaukee's history and attractions along the river. Our knowledgeable guides will provide you with any kayaking instruction you may need and ensure you feel safe and comfortable on this beginner-level tour.

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.

Explore Sheboygan’s highlights in a fun way, on a Segway, on this small-group excursion. Cruise along the Sheboygan River and Lake Michigan shoreline to see the lighthouse, shipwreck sites, schooner remains, and the John Michael Kohler Arts Center. If you’d like, you can upgrade to a private tour for a more personalized experience.

The Milwaukee Downtown ride takes you on a on an exhilarating helicopter journey down the Milwaukee Bay where you can witness Downtown Milwaukee like never before! This ride offers a truly unique perspective, soaring directly over the heart of the city. You’ll be treated to sweeping views of the Milwaukee River, the iconic Hoan Bridge, and the majestic Milwaukee Art Museum. But that’s not all – this ride encompasses the entire cityscape, ensuring you don’t miss a single landmark.

The Milwaukee River has many breweries and restaurants along its shores, but driving can be a bit of a hassle. Bypass the roads and take to the water with this Milwaukee River Kayak Rental. Float down the river at your own pace without being rushed by a group and decide how you spend your time in the river and out of it.

Half the history talk calories of the Old Milwaukee Tour but with all the full bodied flavor! Ride 15 miles on a pedal assist e-bike through the best of Milwaukee. Enjoy a frozen custard at the beach, a local speciality. See incredible variety! Ride through historic working class neighborhoods and past ornate mansions that were built when Milwaukee was the machine shop of the world. Admire hidden alley street art. Gaze up at massive frescos inside our finest cathedral. Cruise along lakeshore parks and past downtown architectural gems. Wrap it all up with a visit to a beer garden, a city tradition since 1848, and you'll have a real taste of Milwaukee.

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.