Sturgeon Bay is a town that really knows how to show off its maritime charm, natural beauty, and quirky local culture—all in ways that suit different types of travelers. Whether you’re interested in exploring at your own pace, zipping around on a Segway, or pedaling between local pubs, this area offers a variety of tours that highlight its unique character. We’re particularly fond of the self-guided drive that takes you through Door County’s native and maritime heritage — it’s a great blend of history, scenery, and flexibility. Plus, it’s a budget-friendly way to see a lot in a short time. For something more active, the Segway tours are a fun, eco-friendly option, letting you cover ground easily while catching stunning views. And if you’re into biking and local food, the private bike tour offers a tailored experience perfect for groups wanting to blend exercise with socializing.
If you’re planning your visit, this guide will help you understand the best options, whether you prefer a relaxed drive, a breezy ride, or a guided exploration. Each tour offers something special — from picturesque parks to historic shipyards — so the right choice depends on your interests, schedule, and budget.
1. A Self-Guided Drive of Southern Door County’s Natural Heritage
At number 1, the Self-Guided Drive of Southern Door County’s Natural Heritage offers an affordable and flexible way to explore the region’s natural and maritime history. For just $19.99 per group (up to 15 people), you get a three-hour to three-and-a-half-hour drive that takes you through Carlsville, the Sturgeon Bay Canal, and beyond. The tour is entirely self-guided, so you control your pace and stops, making it ideal for families or small groups looking for an educational outing without a guide.
What makes this tour stand out is its blend of history, engineering, and scenery. You’ll pass the bustling shipyards of Sturgeon Bay, learn how the canal revolutionized shipping in the area, and spot the historic Coast Guard station still active today. Stops include a cozy coffee roastery, a waterfront museum, and the iconic lighthouse built in 1899. Along the way, you’ll also hear about Native American settlements, Scandinavian influences, and the region’s famous cherry orchards. The route provides ample opportunities for photos and quiet moments, especially when passing the towering sand dunes of lakeside parks.
This tour is best suited for curious travelers wanting a rundown of the area’s heritage, with the flexibility to skip around or linger at points of interest. Reviewers mention occasional reception issues but appreciate the depth of local stories and scenic stops.
Bottom Line: A budget-friendly, customizable way to enjoy the area’s history and scenery without leaving your car.
2. Cave Point/Whitefish Dunes Segway Tour
Number 2 on our list is the Cave Point/Whitefish Dunes Segway Tour. Priced at around $100.97 per person, this 1 hour 35 minute to 2-hour adventure takes you through some of Door County’s most stunning natural sights. What makes this tour special is the use of Segways, which allow you to cover more ground comfortably while absorbing the landscape.
The tour includes stops at Whitefish Dunes State Park, home to some of the largest dunes on Lake Michigan, and Cave Point County Park, where sinkholes and dramatic cliffs make for incredible photo ops. You’ll also glide past Clark Lake, with its tranquil waters and peaceful surroundings. The guide shares insights into the geology and native plants along the route, making it educational as well as fun. Many riders comment on the knowledgeable guide and the ease of riding Segways, even with no prior experience.
This experience is perfect for active travelers who want a quick, exhilarating way to see the area’s natural beauty without hiking or biking. The small group size and smooth glide make it accessible to most fitness levels, and the scenery—especially the sinkholes and dunes—is unforgettable.
Bottom Line: A lively, scenic ride that combines nature and fun, ideal for those who want to see a lot with minimal effort.
3. Sturgeon Bay: Canal City Segway Tour
The Sturgeon Bay: Canal City Segway Tour offers a 2-hour glide over some of the most iconic sights of the town. For $101 per person, you’ll explore the historic Steel Bridge, the busy Bay Shipbuilding yard, and the vibrant downtown district. This tour is your chance to see the city from a fresh perspective, while learning about its history and maritime importance.
What sets this tour apart is its focus on the city’s infrastructure and modern development. You’ll pass the Louisiana Street, home to charming shops and eateries, and get a close-up view of the active shipyard. The Steel Bridge, which you’ll cross on your Segway, is a favorite photo spot—its historic charm paired with the wind in your hair makes for a memorable experience. The guide shares stories about Sturgeon Bay’s evolution from a shipbuilding hub to a lively community, making history come alive.
This tour is best suited for those interested in urban exploration and maritime commerce. It’s an efficient way to see several highlights in a short amount of time, and the personal interaction with your guide adds richness to the experience.
Bottom Line: A compact, engaging tour that combines history, architecture, and local stories, perfect for history buffs and city explorers.
$101 per person
4. Sturgeon Bay Canal City Segway Tour w/ Private Tour Option
Number 4 offers the Sturgeon Bay Canal City Segway Tour with a private option. Priced at about $100.97 per person for a 2-hour session, this guided tour dives into the city’s maritime and industrial past while giving you the freedom of a Segway.
What makes this tour stand out is its detailed focus on the shipping corridor, including stops at the Door County Maritime Museum and the historic ship canal built in the 1800s. You’ll learn about the region’s boatbuilding heritage, see the bustling shipping activity, and explore key spots like Graham Park and Big Hill. The guide offers insights into the dangers of the Deaths Door passage and how the canal transformed local transportation.
Guests appreciate the combination of education and fun, noting that the outside of the Maritime Museum alone offers a wealth of boating collections and history. The tour is ideal for those interested in maritime history, local industry, and scenic city views.
Bottom Line: An in-depth, history-rich Segway experience perfect for travelers wanting more context on Sturgeon Bay’s shipbuilding legacy.
5. Foxy Pedaler Sturgeon Bay Private Bike Tour
Finally, the Foxy Pedaler Private Bike Tour offers a lively, social way to explore downtown Sturgeon Bay for around $320 per group. Designed for up to 14 people, it lasts about 2 hours 30 minutes and starts outside Stone Harbor Pub.
This tour is perfect for groups of friends or families wanting a customized experience. You’ll pedal between local bars, including stops at Kitty O’Reilly’s, Sonny’s Pizzeria, and Cherry Lanes Arcade. The itinerary is flexible, and the stops can be tailored to your preferences. It’s a fun, active way to combine sightseeing with socializing, especially if you enjoy mixing a little local flavor with your adventure.
While this tour doesn’t focus on historic sites, it offers a unique way to enjoy Sturgeon Bay’s lively downtown scene at a relaxed pace. It’s best suited for groups who enjoy a casual, social outing and are comfortable on bikes.
Bottom Line: A lively, customizable experience ideal for groups wanting to combine sightseeing, socializing, and a bit of exercise.
$320.00 per group (up to 14)
How to Choose the Right Tour
When deciding which tour to book in Sturgeon Bay, consider your interests, budget, and fitness level. If you’re looking for a flexible way to learn about the region’s natural and maritime heritage, the Self-Guided Drive provides excellent value and control over your schedule.
For those eager to explore nature on two wheels, the Segway to Cave Point offers a scenic, active option, especially for outdoor lovers. If city sights and maritime history appeal more, the Canal City Segway Tour provides a compact but detailed experience.
Travelers seeking a deeper dive into local maritime history might prefer the Segway tour with the private maritime focus. And groups wanting a social, laid-back outing will enjoy the Foxy Pedaler Bike Tour, especially if they love combining sightseeing with local bars.
Timing is key—book early summer through early fall when the weather is most agreeable, especially for outdoor and active tours. Always check availability ahead of time to secure your preferred date and avoid missing out.
Final Thoughts
Sturgeon Bay offers a surprising diversity of tours that suit many interests and activity levels. For a relaxed, scenic introduction, the self-guided drive is hard to beat. If you’re after adventure and scenery, the Segway options deliver both fun and insight, with the Cave Point tour standing out for its dramatic landscapes. The private bike tour adds a social, custom touch, ideal for groups wanting to combine activity and local flavor.
No matter your choice, booking early will help you secure the best times and avoid disappointment, especially during peak season. With options that are budget-friendly, active, and educational, Sturgeon Bay is ready to show off its maritime charm in a way that suits you best. Happy exploring!