Top Wisconsin Sightseeing 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.

The Wisconsin Dells may be known for fun and games, there's a darker side you'll discover on this after-dark haunted history tour. Climb aboard the vintage trolley for a ride to the most spooky spots in town, like the Spring Grove Cemetery and a restaurant known for its ghost sightings. Get out to explore at each stop, and be sure to check your photos for mysterious orbs and other paranormal signals.

Limestone cliffs jutting above crashing teal-blue waters make Cave Point no ordinary county park. But the best vantage point actually comes from the water, and that’s where you’ll be on this kayaking tour. While tracing Door County’s rugged coast, you’ll also get access to Whitefish Dunes State Park and its tall dunes, beach, hiking trails, and more.

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.

This tour takes you along the beautiful shoreline of Peninsula State Park. You will learn about the area's rich history and see sights like Eagle Bluff Lighthouse, built in 1848. The highlight of the tour gets you up close to Eagle Bluff directly below the point where Eagle Tower sits in the park. Here, you'll see evidence of how this body of water was once part of the Silurian Sea by viewing the caves high above in the rock formations. We'll then cruise past Horseshoe Island, known as one of the safest natural harbors in the Great Lakes. While heading back to Fish Creek, we will talk about the 4 Strawberry Islands and the distant Chambers Island.

Door County’s northern peninsula is a blend of small coastal villages, quirky oddities, and natural beauty. This self-guided driving tour takes you through the county’s most scenic landscapes, from Bailey’s Harbor on Lake Michigan to Fish Creek on Green Bay, while you listen to fascinating stories along the way. The tour starts at Anclam Town Park in Bailey’s Harbor. I’ll show you the area where Door County’s settlement began, when Captain Justice Bailey sought shelter from a storm in 1848. As you drive along the peninsula, you’ll travel through historic fishing villages, and visit scenic overlooks perched high above the water. Once you’ve completed a loop of the northern thumb, including stops at Sister Bay, Ellison Bay, and Fish Creek, the tour ends at Wood Orchard Market near Egg Harbor. Along the way, you’ll discover the perfect mix of natural beauty and local culture, and hear some of the stories behind this “Cape Cod of the Midwest.“

Kick off your morning with a guided e-bike tour around Milwaukee. Covering more ground in less time, 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.

We are the highest rated kayak tour company, as well as the most affordable tour company, in Door County. We are local, born and raised in sunny Jacksonport, and we hire responsible, professional guides, and take care of you from the moment you walk in the shop til the time you get back in your car. We do not abandon you on the Lake, we train our guides to not only provide you with a safe, reliable, fun trip, but also knowledgable about the local ecology of the area.

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!

Make the most of your visit with the help of a guide who’ll take you to see some of the best of Madison by bike. Whether you want to get the lay of the land when you arrive in town for the first time, or you’re a local looking to learn more about the history of your city, this informative tour has something for everyone.

Travel between two lake-side terraces and enjoy some of Wisconsin's best cultural sites along the way with this self-guided and self-paced walking tour! • Visit some of Madison historically rich architectural gems such as the State Capitol, Der Rathskaller, Bascomb Hill, Memorial Union and much more • Hear from producer Frank Burge, an award-winning writer, essayist and midwestern local • Do it all in an hour or linger at stops along the way with complete control over when you start and finish • Get unlimited use before your booking date and after it • Use the virtual tour option at home Once you’ve booked, you’ll receive a ticket with instructions and a unique code listed under “Before You Go”. Then simply install the VoiceMap app and enter your code. The app displays directions to the starting point, and when you’re in the right place, just pop in your headphones and tap start. VoiceMap has automatic GPS playback, with turn-by-turn directions. It also works offline.

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.

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.

Download the GuideAlong self-guided audio tour and you'll discover more on your Lake Superior North Shore road trip. Hear fascinating behind-the-scenes stories, local tips and directions play automatically along Highway 61, all based on your location. You'll be guided to all of the area's famous highlights as well as lessor known gems including one of Minnesota's most photographed lighthouses, a historic mansion that's also the site of a famous murder mystery, and an iconic 932-foot-high scenic lookout over Lake Superior. Enjoy the freedom to explore offline at your own pace, spending more time at places that interest you. - Stories, tips and directions play automatically based on your location - Travel at your own pace - Tour offline using GPS, no cell service or WiFi needed - Suggested itineraries for half, full or multi day use - Buy once, use forever! No expiry, includes free updates - Like having a tour guide along for the drive Purchase one tour per vehicle.

Washington Island, with its rich maritime history and Scandinavian heritage, is a perfect escape from the mainland bustle. On this self-guided driving tour, you’ll explore a place where shipwrecks shaped the community, and where ”island time“ means slowing down to appreciate Washington’s natural beauty, historical sites, and its unique character. The tour starts at the Washington Island Welcome Coffee Pot. You’ll wind through rustic roads, past historic buildings, pristine beaches, and peaceful nature preserves. The route includes stops at quaint village shops, Jackson Harbor, and secluded spots like Little Lake with its hand-built museum. You’ll learn about the Danish, Norwegian, and Icelandic immigrants who shaped the island’s culture, and hear fascinating stories about the ferries that have connected this remote community to the mainland for generations. You’ll also hear about the surprising connection between West Harbor and the Underground Railroad.

Skip the crowds this is a private tour for your group only! Embark on a captivating 2-hour private tour of Milwaukee, where you’ll explore iconic landmarks, vibrant street art, and cultural gems. With comfortable transportation, this curated journey includes glimpses of Lakefront Brewery, the artistic wonders of Black Cat Alley, architectural beauty at Villa Terrace, the iconic Milwaukee Art Museum, culinary delights at Milwaukee Public Market, and the energetic ambiance of Fiserv Forum. Enjoy the city’s diverse offerings while our expert guide provides insights into Milwaukee’s rich history and culture. Throughout the tour hear intriguing stories about the most iconic landmarks of Milwaukee, becoming familiar with the city’s history, culture, heritage, and unique stories.

Venture across the beautiful and biodiverse Lake Michigan on this small-group kayak tour in Door County, where your certified naturalist and kayak guide takes care of logistics and navigation—and shares basic instruction before you depart. Paddle your way across the lake to Door County’s tallest bluff, taking in a shipwreck, Native American pictographs, and other fascinating sights along the way.

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.

The home of American lager and once a rival to Chicago in size, Milwaukee’s history and preeminence may not be as obvious as it once was—unless you look. With this self-guided audio tour, you’ll travel down Brew City’s most opulent drag, from the Milwaukee Public Library to the Milwaukee Art Museum. Across 150 years of history and plenty of steps, you’ll get a guided-tour experience without any of the crowds.

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.

Experience Door County’s most relaxing—yet wild—side on this scenic sightseeing cruise. With your captain narrating the way, you’ll see a side of Wisconsin most don’t realize even exists: tiny islands speckled with thousands of shorebirds; historic lighthouses; towering, forested bluffs hanging high above the water; and more. All you have to do is sit back and take it in (and bring your camera or binoculars).

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.

Download GuideAlong’s self-guided audio tour bundle to make the most of your Eastern USA road trips. As you drive, hear stories play automatically as you explore scenic drives, national parks, lakeshores, and historic parks. This is the ultimate collection of 14 iconic destinations, including Acadia, Blue Ridge Parkway, Catskills, Florida Keys, Great Smoky Mountains, Lake Superior, Outer Banks, Shenandoah, and Vermont’s Route 100. A memorable adventure awaits on America's iconic roads. Enjoy the freedom to explore offline at your own pace, spending more time at places that interest you and bypassing any that don’t. Stories, tips, and directions play automatically based on your location Travel at your own pace Tour offline using GPS. No cell service or WiFi is needed Suggested itineraries for half, full, or multi-day use Buy once, use forever! No expiry, includes free updates Like having a tour guide along for the drive Purchase one bundle per vehicle.