All Wisconsin 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.

Swap the big bus tours for a crowd-free experience. Traveling in an open-air, five-seater electric vehicle, you'll thoroughly explore the historic city of Milwaukee, from popular tourist destinations to some hidden gems that most visitors miss. As you travel, your guide will fill you in on Milwaukee's rich and exciting history. This tour has different lengths to suit your schedule.

Venture into the picturesque Apostle Islands National Lakeshore on a half-day kayak adventure with us. Paddle through magnificent sea caves crafted from ancient sandstone, where you'll glide beneath striking arches and potentially spot bald eagles gliding above. With a small group of just six guests, experience personalized attention from your certified guide, who shares insights into the area's rich Ojibwe history and unique geology. All necessary equipment is provided, ensuring a smooth and enjoyable outing for both beginners and seasoned paddlers. Create lasting memories on the stunning turquoise waters of Lake Superior.

Cruise the tranquil waters of Green Bay at sunset for picturesque views amid a backdrop of live music. See Door County from the water and sail along quaint towns such as Ephraim and the naturally beautiful Peninsula State Park as the sun sinks below the horizon in a colorful display.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Typical itinerary, Meet at the Midwests primeir UTV rental Throttle RX. Hit the amazing trails full of scenic views and wildlife. While on the trails stop at historical sites immaculate beaches, eclectic shops, or just have a blast on the trails in one of the best UTV's on the market. Approximately 4 hours. Next travel down the crystal clear waters of the Saint Croix river with Minnesota to your west bank and Wisconsin on the east bank. See deer, bald eagles and other wildlife as you travel down stream. Stop at any of the great sand bars to relax and swim. Bring fishing poles with and see if you catch any of the vast species of fish that inhabit our river system. While going down stream glace in the water to see huge catfish and sturgeon. Approximately 4-6 hours.

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.

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.

Check out the best Madison has to offer on this two-hour pedal powered pub crawl. You'll stop by some of the hottest spots in Downtown Madison on our mobile bar on wheels. Tours are BYOB with our on-board cooler and you can play your own music. The tour is the most fun way to experience the city and our trained guides help have a blast.

One of the most haunted bars in the nation, Shaker’s Cigar Bar—a Milwaukee institution—has a history as wild as its ghostly encounters. On this small-group tour, you’ll explore behind the scenes, hearing stories about the Capone brothers and Jeffrey Dahmer, the bar's cemetery and brothel past, and more. Bring your camera, sure, but beware of what you might catch on film.

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.“

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.

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