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The 16 Best Tours in Milwaukee
Milwaukee is a city that surprises many visitors with its lively neighborhoods, fascinating history, and scenic waterfront. From its iconic beer culture to its stunning lakefront views, Milwaukee offers a variety of experiences that go far beyond the usual sightseeing. We’ve rounded up the best tours in Milwaukee, whether you're interested in exploring on foot, by bike, from the water, or even from above in a helicopter. Some tours are small and personal, others are themed for history or food lovers, but all promise a memorable way to see this vibrant city.
One highlight we love is the Milwaukee Tour — a compact, engaging introduction perfect for first-timers. It covers the city’s most famous sights like the Milwaukee Art Museum and City Hall, with the added bonus of small-group intimacy. For something more active, the Old Milwaukee E-Bike Tour offers a fun, fast way to cover neighborhoods and lakeside spots with a pedal assist. And if you’re into thrills from above, the Private Downtown Milwaukee Helicopter Ride provides breathtaking aerial views of Milwaukee’s skyline and lakeshore landmarks.
Whether you’re after an easy overview, a delicious food walk, or a ghostly tale, Milwaukee’s diverse tour options make it easy to customize your visit. Let’s explore the top picks in detail.
1. Milwaukee Tour
Known for its beer, brats, baseball, and lakefront beauty, Milwaukee offers a surprising amount for visitors. This 2-hour Milwaukee Tour is perfect for those wanting a quick but rundown. With a small group capped at 14, your guide takes you past Milwaukee’s City Hall, the Milwaukee Art Museum, and trendy neighborhoods like the Historic Third Ward. Highlights include the iconic Bronze Fonz and views of Lake Michigan from North Point Lighthouse.
Guests rave about the personalized experience — “Mike was a great guide, very knowledgeable and fun,” one reviewer noted. The tour’s mix of cultural sights and local stories makes it ideal for first-timers or those short on time. At just $45 per person, this offers excellent value for a lively, interactive introduction to Milwaukee’s best.
Bottom Line: Perfect for first visits, this tour packs Milwaukee’s top sights into a friendly, two-hour format.
2. Discover Iconic Milwaukee Tour
For around $67, the Discover Iconic Milwaukee Tour takes you on a relaxed ride in an electric vehicle through both the well-known and lesser-known parts of Milwaukee. Traveling in a small group, you’ll explore landmarks like the Milwaukee Art Museum, Harley-Davidson Museum (just for viewing), and Black Cat Alley — a vibrant mural district. The tour also passes by Villa Terrace Museum & Gardens and Lakefront Brewery, offering a mix of art, craft beer, and scenic beauty.
Guides like Gus and Diane are praised for their friendly, thorough storytelling — “We saw things we’d never discover on our own,” says one traveler. This tour is especially suited for those who want a deeper dive into Milwaukee’s diverse neighborhoods without the hassle of parking or walking long distances.
Bottom Line: A flexible, intimate tour that combines top sights with local hidden gems, perfect for those who want a broader view of the city.
3. Milwaukee Walking Food Tour With Secret Food Tours
If sampling Milwaukee’s famous beer, cheese, and regional snacks is your priority, this Walking Food Tour is an excellent choice. Over 3.5 hours, you’ll stroll from the Historic Third Ward to East Town Downtown, stopping at several local eateries. You’ll enjoy enough food to make up a full meal, including bites at the Milwaukee Riverwalk and the Public Market.
The small group size means plenty of attention from your guide, and reviews highlight how fun and educational the experience is. “Learned about Milwaukee’s German heritage while tasting fantastic food,” one visitor shared. The tour is ideal for food lovers who want to combine eating with sightseeing and storytelling.
Bottom Line: A delicious way to learn Milwaukee’s culinary roots while exploring its most scenic and historic districts.
4. Milwaukee: Sightseeing Bus Tour
For those wanting a straightforward, driver-led overview, the Sightseeing Bus Tour hits the mark. Lasting around 2 hours, it covers Milwaukee’s most famous attractions and neighborhood highlights in a comfortable bus with some walking. You’ll explore areas like the Historic Third Ward, walk through the Walker’s Point neighborhood, and see the Milwaukee Riverwalk from a different perspective.
Reviewers appreciate the mix of driving and walking, which offers a balance of comfort and engagement. “A great way to see the city without worrying about parking,” wrote one traveler. This tour suits visitors who prefer to cover a lot in a short time with minimal physical effort.
Bottom Line: An easy, efficient introductory tour with a good mix of sights and history.
5. Old Milwaukee 9am E-Bike Tour
For active travelers, the Old Milwaukee E-Bike Tour offers an invigorating 3-hour ride through historic neighborhoods and lakeside parks. With a small group of just eight, your guide shares insights while you cruise past landmarks like North Point Lighthouse and Villa Terrace Museum & Gardens.
Guests say it’s a fun, personalized way to see Milwaukee, especially since e-bikes make covering 16 miles accessible even if you’re not a seasoned cyclist. The tour includes stops at scenic spots, and reviews praise the guide for sharing stories along the way. It’s perfect for those who want a mix of sightseeing and physical activity.
Bottom Line: An engaging, active way to explore Milwaukee’s lakeside and historic districts with a relaxed pace.
6. Skip the Line: Museum Admission Ticket – Grohmann Museum
At just $5, the Grohmann Museum offers a fascinating collection dedicated to art of labor and human achievement. Pre-booking allows you to skip the lines and enjoy three floors of art, sculptures, and a rooftop sculpture garden.
Reviewers mention its uniqueness: “The artwork provides a compelling visual history of industry and work,” says one. It’s a small but impactful museum, ideal for those interested in industrial art or wanting a quick cultural stop. Its location on the Milwaukee School of Engineering campus makes it easy to combine with other outings.
Bottom Line: A budget-friendly, enriching visit perfect for history and art lovers interested in labor themes.
7. Milwaukee Kayak Rental
For a relaxing water-based experience, try the Milwaukee Kayak Rental. Paddling along the Milwaukee River, you can explore breweries, restaurants, and scenic views at your own pace. Kayaks are easy to handle, and life vests are provided, making it suitable for solo adventurers or groups.
Reviewers love the flexibility: “Very easy to control, beautiful scenery, and a fun way to see the city,” one wrote. The rental allows you to bring a cooler and spend hours floating or exploring. It’s a great way to enjoy Milwaukee’s waterfront more intimately.
Bottom Line: Perfect for water lovers wanting a personalized, relaxed outing on Milwaukee’s river.
8. Lake Geneva Ghost Walk
For a spooky twist, the Lake Geneva Ghost Walk offers a 1.5- to 2-hour stroll through haunted mansions, Native legends, and lakeside lore. The tour focuses on Lake Geneva’s ghostly tales, including stories of vengeful spirits and lake monsters.
With a small group of nine, guides like Melinda and Rita keep the atmosphere lively and engaging. “Very entertaining and informative,” one reviewer said. This tour is ideal for history fans who enjoy a bit of the paranormal, especially in the evening.
Bottom Line: A fun, atmospheric walk that combines local legends with scenic lakeside views.
9. Milwaukee Private or Public Pedal Tavern Tour
If you’re after a lively social experience, the Pedal Tavern combines sightseeing with fun group pedal power. Riding through the Walkers Point and Third Ward neighborhoods, you’ll enjoy local bars and street art while working together to keep the party moving.
Reviewers like Dan and Jessie praise the guide and the fun atmosphere. “Very fun, a workout, and a great way to see Milwaukee,” one wrote. It’s best suited for groups wanting an active, boozy outing with friends.
Bottom Line: A unique, energetic way to explore Milwaukee’s neighborhoods while socializing.
10. Adult Party Boat Rentals on the Milwaukee River
For a memorable water adventure, the Party Boat Rentals are ideal. These electric boats are stable, easy to operate, and designed for fun. Spend 30 minutes to 1.5 hours cruising Milwaukee’s river, soaking up cityscape views and sharing drinks with friends.
Reviewers mention how easy and enjoyable it is: “Great time, perfect for relaxing and sightseeing,” says one. The boats fit up to six people comfortably, making it great for small groups or couples wanting to cruise in style.
Bottom Line: A hassle-free, social way to enjoy Milwaukee’s riverside scenery.
11. Old Milwaukee Lite 1:30pm E-Bike Tour
This Lite E-Bike Tour offers a 3-hour, 16-mile ride through Milwaukee’s Polish neighborhoods, mansions, and lakeside parks. The pedal assist makes it accessible for most fitness levels, and the guide shares stories about local heroes and architecture.
Reviewers like the mix of culture and scenery, mentioning the “beautiful park above the lake” and “wonderful views of the lake and river.” It’s excellent for those who want more ground covered but with a relaxed pace and interesting narration.
Bottom Line: A comprehensive, active tour suitable for those who want to see Milwaukee’s diverse neighborhoods efficiently.
12. Private Downtown Milwaukee Helicopter Ride
Experience Milwaukee from the sky with a Private Helicopter Tour. In 10-15 minutes, you’ll soar over Lake Michigan, the Milwaukee Art Museum, the Hoan Bridge, and more. It’s a high-end option perfect for special occasions or those wanting a truly unforgettable vantage point.
Guests rave about the professionalism and breathtaking views. “Loved our pilot and the cityscape,” one review mentions. The tour is suitable for those comfortable with heights and looking for a luxurious highlight.
Bottom Line: An exceptional, scenic splurge that offers a totally different perspective of Milwaukee’s skyline.
13. Secret Walking Food Tour Milwaukee
For foodies eager to dig into Milwaukee’s culinary secrets, this Secret Food Tour covers local bites and hidden spots over 3 hours. You’ll explore downtown’s eclectic eateries and learn about the city’s food history and culture.
Reviewers love the mix of scandalous and savory stories, saying, “It’s a great way to experience Milwaukee’s food scene,” and it’s ideal for those wanting a deep dive into local flavors beyond the typical tourist stops.
Bottom Line: A flavorful journey into Milwaukee’s food scene with insider knowledge and delicious discoveries.
14. Milwaukee Historic Downtown Self Guided Walking Tour
If you prefer exploring at your own pace, this Self-Guided Walking Tour is an affordable way to see Milwaukee’s historic sites. It covers landmarks like Kilbourntown, Usinger’s Sausage, and Pere Marquette Park, with easy-to-follow directions.
Reviewers appreciate the flexibility: “Did it on my own schedule, pausing at spots I liked,” says one. It’s perfect for independent travelers who want control over their sightseeing.
Bottom Line: An inexpensive, flexible option for history and architecture buffs.
15. 2 Hour Sailing Adventure in Lake Michigan (up to 6 people)
For a truly memorable experience, this Sailing Adventure offers a private 2-hour sail around Lake Michigan. It’s perfect for small groups, offering stunning views of Milwaukee, Racine, and Kenosha with the chance to spot wildlife like otters and sandhill cranes.
Guests praise the personal attention from the captain and the chance to learn sailing tips. “First time steering a boat — unforgettable,” one reviewer shared.
Bottom Line: A personalized, scenic trip ideal for sailors and nature lovers alike.
16. Brew City Ghosts: Macabre Milwaukee
Cap off your Milwaukee experience with Brew City Ghosts, a 1-hour tour of haunted landmarks like the Pfister Hotel and Riverside Theater. Guided by engaging storytellers, you’ll explore Milwaukee’s darker side and hear stories about apparitions, Native legends, and paranormal activity.
Reviewers find it fun and atmospheric: “Elvira’s storytelling made it genuinely spooky,” one reviewer said. It’s a great evening outing for those interested in Milwaukee’s supernatural stories.
Bottom Line: A quick, entertaining ghost tour that blends local lore with Milwaukee’s historic sites.
How to Choose the Best Milwaukee Tour for You
When selecting a tour, consider your interests and the time you have available. For a quick overview, the Milwaukee Tour offers a lively introduction, perfect if you’re short on time. Food and drink lovers should look at the Walking Food Tour, which combines local bites with sightseeing.
Active travelers might prefer the Old Milwaukee E-Bike Tour, while those wanting a special experience can opt for the Helicopter Ride. Water enthusiasts can enjoy the Kayak Rental or the Sailing Adventure. For history lovers, the Self-Guided Tour offers complete flexibility.
Booking early is advised, especially for popular options like the helicopter or ghost tours, to secure your preferred time slot.
Milwaukee’s variety of tours means there’s something for every type of traveler, whether you want a quick city overview, a foodie adventure, or an adrenaline rush from above. With options spanning from $5 museum entries to private sailing trips, you’ll find activities that fit your schedule and style. Now is the time to plan ahead, pick your favorites, and enjoy all the surprises Milwaukee has to offer.