Milwaukee is a city that’s best experienced from the water. Its Milwaukee River is a lively stretch full of breweries, restaurants, and reflections of the city’s industrial past. Paddling here offers an intimate view of Milwaukee’s downtown and its storied neighborhoods, without the hassle of traffic or parking. We particularly like the Milwaukee Kayak Rental for its flexibility and friendly staff—perfect for solo adventurers or groups wanting to explore at their own pace. For a more guided experience, the Small Group Kayak Tour of Skyline offers a chance to learn about the city’s landmarks while paddling, and the Milwaukee Cheese Curd Kayak Tour combines sightseeing with a taste of local flavor, making it a fun outing for food lovers.
If you’re considering a paddle in Milwaukee, read on. We’ve rounded up three of the best canoe and kayak experiences, each with its own style and appeal, to help you decide how to see the city from the water.
Quick Overview of Milwaukee Canoe & Kayak Experiences
Our list includes:
- An independent kayak rental that lets you explore the Milwaukee River at your leisure (Milwaukee Kayak Rental)
- A guided small-group skyline tour that combines kayaking with city stories (Small Group Kayak Tour of Skyline)
- A specialty cheese curd kayak tour with stops at iconic Milwaukee spots (Milwaukee Cheese Curd Kayak Tour)
Below, we dive into the details to help you pick the perfect paddle adventure.
1. Milwaukee Kayak Rental
For those who want the freedom to set their own pace, the Milwaukee Kayak Rental is hard to beat. It offers about four hours of floating down the Milwaukee River, a stretch lined with breweries, eateries, and scenic views. The rental includes a kayak, life vest, and safety instruction, making it accessible even for first-timers. It’s ideal for solo travelers, couples, or small groups who enjoy independence and flexibility.
What makes this rental special is its simplicity: no guides, no scheduled stops—just you, your kayak, and the river. You can bring a cooler along, which means packing a picnic or some beers to enjoy on the water. The reviews highlight how friendly the staff is, offering safety tips and suggestions for good spots to stop and explore. Many mention how easy the launch and landing points are, making it accessible for all skill levels.
This experience suits those looking for a relaxed, unstructured day on the water, with the option to explore the river streets and maybe hop onto shore for a quick bite or drink. It’s also great if you’re traveling with family or friends who prefer to paddle at their own speed.
Bottom Line: If you want the flexibility to explore Milwaukee’s riverside at your own pace without a guide, this rental is a reliable, affordable choice that consistently earns top marks.
2. Small Group Kayak Tour of Skyline in Milwaukee
If you’re eager to combine paddling with storytelling, the Small Group Kayak Tour of Skyline is a standout. This guided experience lasts about 1.5 to 2 hours and takes you along the Milwaukee River toward downtown, with excellent views of the city’s skyline. The tour does not include stops but offers rich insights into Milwaukee’s history and landmarks from a knowledgeable guide.
During the trip, you’ll paddle past the iconic Summerfest grounds and along the historic riverwalk, which extends nearly six miles. The guide shares engaging stories about Milwaukee’s development, notable buildings, and even the bronze statue of Henry Winkler! The guided aspect makes this a good introduction for beginners, as instructions and safety concerns are handled professionally.
Guests appreciate the combination of cityscape views and educational commentary, making it more than just a paddle. The reviews mention how enjoyable it is to see Milwaukee from a different perspective and how comfortable the double kayaks are, contributing to a stress-free experience.
Best suited for: Visitors who want a quick, informative paddle with a bit of city sightseeing, especially if they’re new to kayaking or want some guidance.
Bottom line: This tour offers a compact but engaging way to enjoy Milwaukee’s skyline, perfect for those who value storytelling and a guided experience.
3. Milwaukee Cheese Curd Kayak Tour
For those who want a unique mix of sightseeing, history, and local flavor, the Milwaukee Cheese Curd Kayak Tour is a fun choice. This four-hour adventure launches from the Walker’s Point neighborhood and includes stops at notable spots like the Harley-Davidson Museum and the Milwaukee Public Market. The tour includes paddle instruction, life jackets, and cheese curds, adding a tasty twist to your water excursion.
The stops along the route highlight Milwaukee’s character—starting with the Harley-Davidson Museum, where you can admire the motorcycles and the connected Motor Bar and Restaurant. Passing the bronze Fonzie statue and the Public Market offers a taste of Milwaukee’s vibrant culture. The guide will take you through diverse neighborhoods—from the historic Third Ward to downtown—showcasing Milwaukee’s architecture and industrial past.
Guests who’ve taken this tour praise its combination of fun, history, and snacking. At $175 per person, it is pricier than the other options, but you get a guided tour with multiple stops and cheese curds included. It’s perfect for food lovers and those wanting a more immersive experience with a local flavor.
Bottom line: If you want a guided, cheese-themed paddle with a mix of culture and history, this tour delivers a memorable outing, especially for those interested in Milwaukee’s food scene.
$175.00 per person
How to Choose Your Milwaukee Kayak Experience
Picking the right paddling option depends on your interests and budget. If you value independence and flexibility, the Milwaukee Kayak Rental is a great choice. For a city-focused, educational paddle, the guided Small Group Skyline Tour offers a deeper understanding of Milwaukee’s landmarks. Foodies or those wanting a uniquely local experience might prefer the Cheese Curd Tour, which combines sightseeing with tasty stops.
Consider your fitness level and comfort—if you’re new to kayaking, guided tours provide support and instruction. The Milwaukee Kayak Rental is suitable for those confident on the water and who want to set their own schedule. Booking early is recommended, especially during peak summer months, to secure your preferred time and ensure a smooth experience.
Final Thoughts
Milwaukee offers a variety of canoe and kayak experiences, from independent river days to guided city tours with stories and snacks. If you’re after pure independence, the Milwaukee Kayak Rental provides a straightforward way to explore at your own pace. Looking for local insights and scenic city views? The Small Group Kayak Tour of Skyline is ideal. And for a taste of Milwaukee’s culinary culture combined with sightseeing, the Cheese Curd Kayak Tour hits the mark.
No matter what style you choose, each offers a fresh view of Milwaukee that’s worth booking early—these experiences fill up fast when the weather is warm. So grab your paddle, and enjoy the ride!