Milwaukee has plenty to do for visitors seeking affordable, memorable, and enjoyable travel experiences. Moreover, thanks to the city’s location in southeastern Wisconsin, Milwaukee serves as a great gateway to other must-visit destinations in the state, as well as into Illinois.
On a short trip from Milwaukee, you can relax in resort towns, go on a hike, or sip a refreshing glass of wine. Here are some of the best day trips from the city.
1. Lake Geneva, Wisconsin
Why go? To hike along the lake and then wind down at a resort spa.
The original inhabitants of Lake Geneva were the Potawatomi people, and wealthy Chicagoans later built homes around the lake after the Great Chicago Fire of 1871. Today, Lake Geneva has transformed into a popular resort town, offering numerous activities for everyone. Seasonal activities include snowmobiling, skiing, swimming, and ziplining. Visitors can explore Big Foot Beach State Park or hike the Lake Geneva Shore Path, which provides stunning views of the water on one side and Gilded Age mansions on the other.
Relaxation awaits at the Grand Geneva Resort Spa, which features customizable spa packages. Alternatively, if you’re in an adventurous mood, consider horseback riding at Dan Patch Stables followed by a visit to Topsy Turvy Brewery’s outdoor beer garden. Additionally, wine enthusiasts can enjoy live music on weekends at Studio Winery + Lake Geneva Distilling.
Getting there: Lake Geneva is just a 50-mile drive from Milwaukee, taking about an hour.
2. Chicago, Illinois
Why go? Because you can’t leave the Midwest without experiencing the region’s biggest city.
In Chicago, travelers can savor the vibrant big-city energy. As the largest city in the Midwest, Chicago boasts endless options for food, shopping, and museums. Iconic sights include the Art Institute of Chicago, Shedd Aquarium, DuSable Museum of African American History, and Cloud Gate, known locally as The Bean.
Due to its rich diversity, Chicago is also home to one of the best food scenes in the country. Visitors have the chance to indulge in mouthwatering Chicago-style hot dogs from Portillo’s, delicious fried chicken from Harold’s Chicken Shack, and famous deep-dish pizza from Lou Malnati’s.
Getting there: You can drive from Milwaukee in about two hours, or take the Amtrak train, which takes approximately an hour and a half.
3. Cedarburg, Wisconsin
Why go? To taste locally produced wines at an affordable price.
Located north of Milwaukee, the charming town of Cedarburg is steeped in history. Originally inhabited by the Potawatomi and Sauk people, Cedarburg evolved into a mill town with the arrival of German settlers in the 1800s. Visitors can explore attractions such as the Cedarburg Art Museum and the Cedarburg History Museum, while participating in lively festivals, including the annual Oktoberfest.
A highlight in Cedarburg is the family-owned Cedar Creek Winery, which transitioned from a wool mill in 1864 to a winery thirty years ago. Wine enthusiasts can partake in tours and tastings of a variety of seasonal wines, ranging from sweet, mulled red wine to fruity strawberry blush. The combination of small-town charm, delightful wine options, and vibrant festivals makes Cedarburg an ideal mini-escape.
Getting there: Cedarburg is just a 20-mile drive, taking about 30 minutes, from downtown Milwaukee.
4. Baraboo, Wisconsin
Why go? To hike along one of the national scenic trails originating from the Ice Age.
Known as “Circus City” due to the historic presence of the Ringling Brothers, Baraboo is home to the Circus World Museum and Devil’s Lake State Park. Attracting approximately 3 million visitors annually, Devil’s Lake is Wisconsin’s most visited park and part of the ancient Ice Age Trail. With over 9,000 acres, the park offers stunning views, including a beach surrounded by rock formations.
Devil’s Lake is perfect for moderate hikes; so make sure to pack water and wear sturdy shoes for this day trip. Adventurous visitors can also enjoy rock climbing on glacial formations, such as the scenic Devil’s Doorway Trail. Other trails to explore include the West Bluff Trail, East Bluff Trail, and Balanced Rock Trail.
For a more relaxing option, visit the town’s free, year-round Ochsner Park Zoo, which features diverse animal species, including Canada Lynx, capuchin monkeys, wolves, and bears, alongside a delightful lion water fountain.
Getting there: Baraboo is 120 miles from Milwaukee, and the drive takes about two hours.
5. Wisconsin Dells, Wisconsin
Why go? Because families can enjoy countless waterpark adventures.
Wisconsin Dells is renowned for having over 20 indoor and outdoor waterparks, making it a top destination for family fun throughout the year. While here, consider visiting Mt. Olympus, Noah’s Ark, and Kalahari Resort for some refreshing water activities. For those preferring dry land, attractions include Ripley’s Believe It Or Not and mini-golf at Pirate’s Cove.
When hunger strikes, grab a bite at MACS (Macaroni and Cheese Shop), indulge in classic American cuisine at High Rock Cafe, or enjoy cocktails at The Del-Bar.
Getting there: Wisconsin Dells is less than two hours from Milwaukee by car, or you can take an Amtrak train from downtown Milwaukee’s Intermodal Station to Wisconsin Dells Station, which takes about two hours.
6. Sheboygan, Wisconsin
Why go? To savor locally made cheese curds and bratwurst.
Located on Lake Michigan’s western coast, Sheboygan offers a variety of activities, including Segway tours, sailing, surfing, and cycling. Additionally, visitors can explore Blue Harbor Resort, the scenic Kohler-Andrae State Park, or the John Michael Kohler Arts Center. Families can unwind at Bookworm Gardens, a botanical garden inspired by beloved children’s literature.
Sheboygan is especially famous for its bratwurst and mouthwatering cheese. Visitors should definitely try a brat from Charcoal Inn South and cheese curds from 8th Street Ale Haus. While exploring, don’t forget to check out shops offering a variety of cheese curds in flavors like classic, cajun, jalapeño, dill, BBQ, cheddar, and hot garlic.
Getting there: It takes roughly 1 hour and 55 minutes to drive the 55 miles from Milwaukee to Sheboygan.
7. Madison, Wisconsin
Why go? To immerse yourself in Wisconsin’s capital city’s thriving food and art scenes.
Located on Lake Michigan, Madison is the capital of Wisconsin, boasting architecture designed by the renowned Frank Lloyd Wright. Visitors can explore the majestic State Capitol, adorned with colorful murals and a stunning 285-foot-high dome. Additionally, the Olbrich Botanical Gardens and local farmer’s market offer vibrant entertainment. Culture enthusiasts should plan a visit to the Madison Children’s Museum, Madison Museum of Contemporary Art, and the Chazen Museum of Art.
When it’s time to eat, consider a juicy burger from Oakcrest Tavern, farm-to-table dining at Heritage Tavern, or a romantic evening at A Pig in a Fur Coat.
Getting there: The drive from Milwaukee to Madison takes approximately an hour and 15 minutes. Alternatively, the Badger Bus operates several daily services between the two cities.
