Milwaukee, Wisconsin Tours & Activities in 2026

Milwaukee , Wisconsin

From $ 95.00

Our trips are perfect for starters or advanced sailors. We offer a 2 -hour sailing trip overlooking views of the city of Racine and on clear day views of Milwaukee and Kenosha You can lay back and relax to the sounds of the waves, or we can teach you a little about sailing and you can start working as crew. I'm a USCG boat captain along with my son Richie (21) who is a small boat sailing instructor and is my dockhand. My daughter Kayle (24) and my wife Kelley will also help out with boat duties.

Milwaukee , Wisconsin

From $ 79.00

Half the history talk calories of the Old Milwaukee Tour but with all the full bodied flavor! You’ll ride about 16 miles with a magical feeling boost from a pedal assist e-bike. Try a tamale on the south side. Enjoy a frozen custard at the beach, a local speciality. See incredible variety: from the historic Polish working class neighborhoods to the ornate mansions along the lake that were built when Milwaukee was the machine shop of the world. You'll also get time to view the inside of a magnificent landmark. Wrap it all up with a visit to a beer garden, a city tradition since 1848, and you'll have a real taste of Milwaukee.

Milwaukee , Wisconsin

From $ 89.75

Brew City Kayaks offers kayak rentals for people who want to explore the Milwaukee River at their own pace. Rent a Tandem Kayak for up to 4 hours for only $85! Along your paddle you will discover the beautiful City Skyline and have the opportunity to stop and get out of your kayak. Many kayakers enjoy stopping at one of the many local breweries or restaurants along the river. Our kayaks are sit-on-top style which are safer, easier to get in and out of, and perfect for holding a cooler. Life vests and instruction are provided.

Milwaukee , Wisconsin

From $ 125.00

The Milwaukee Downtown ride takes you on a on an exhilarating helicopter journey down the Milwaukee Bay where you can witness Downtown Milwaukee like never before! This ride offers a truly unique perspective, soaring directly over the heart of the city. You’ll be treated to sweeping views of the Milwaukee River, the iconic Hoan Bridge, and the majestic Milwaukee Art Museum. But that’s not all – this ride encompasses the entire cityscape, ensuring you don’t miss a single landmark.

Milwaukee , Wisconsin

From $ 100.97

Discover the waterfront character of Sheboygan on a guided Segway tour focused on maritime history and shoreline scenery. After unhurried personal Segway training, glide at an easy pace along river and lakeside routes while your guide handles navigation and safety. The ride highlights historic harbor areas, nautical landmarks, and views across Lake Michigan, with time to stop, look around, and take photos. This relaxed experience is well-suited for first-time riders who want a comfortable, informative way to explore Sheboygan without long walks.

Milwaukee , Wisconsin

From $ 29.00

Expect to see downtown in a whole new light as you hear the spooky stories of the city. Learn why the Pfister Hotel is as notorious with Major League Baseball players as it is with paranormal investigators, why your eyes might be drawn upward when visiting City Hall, which bar has a 121-year-old mummified cat as a mascot, and the identity of the ghost that might be sitting next to you at the Pabst Theater, among other stories.

Milwaukee , Wisconsin

From $ 9.75

Milwaukee is a city shaped by its waterways, its waves of immigrants, and its bold spirit-famous for its German heritage, its brewing traditions, and its knack for reinvention over nearly two centuries. Our journey today starts at Wisconsin Historical Marker three three three, which marks the heart of old Kilbourntown, walk through stories of rivalry, resilience, and remarkable change, all the way to the bustling Milwaukee Public Market in the Historic Third Ward. Go at your own pace. The tour never expires. This is a hand free experience, press play and put your phone in your pocket. The tour is location aware, and plays as you walk. It never expires.

Milwaukee , Wisconsin

From $ 50.00

Expect an interactive evening of caroling in our cruiser/bus and strolling through parks for some colorful photo ops should you be inclined. We’ll take you to some of the most popular Christmas light destinations the city has to offer including; Catalano Square, Zeidler Park, Pere Marquette Park & Cathedral Square, with a whole lot of magical, twinkly lights in between. The tour will begin at Station 1846 where they know how to kick off the holidays! Whether you are a local or visiting from out of town, this tour is sure to become a new tradition for you, your family and friends. City Tours MKE makes it easy for you to gather together to enjoy the warmth and cheer of the holiday season in Milwaukee while leaving the rest to us. Includes: 3D glasses Cruiser- 5 guest/car Bus-12 guest (larger groups)

Milwaukee , Wisconsin

From $ 83.00

Our guided City Skyline Kayak Tours are 1.5–2 hours long and follow the Milwaukee River up towards downtown Milwaukee. We do not make any stops along the way for this tour, but we do provide details about Milwaukee's history and attractions along the river. Our knowledgeable guides will provide you with any kayaking instruction you may need and ensure you feel safe and comfortable on this beginner-level tour. 

Milwaukee , Wisconsin

From $ 75.00

An immersive clue-solving adventure around RiverWalk Milwaukee. Search for real-world clues, solve puzzles, and discover the neighborhood with an experience you'll never forget! Reschedule anytime with no fees. It's a scavenger hunt, escape room, and urban crawl all-in-one. Follow the storyline around town as you find clues and use them to crack codes. Then enter solutions on the app to find out where to go next. Clues can be anywhere - murals, statues, landmarks, and more! Plan on about two hours of playtime, depending on your experience level and how much time you spend exploring along the way. Difficulty level is adjustable - take as many or as few hints as you’d like! Bookings made a week or more in advance receive their kit in the mail. Last-minute bookings pick it up at the start point on the day of the adventure - exact location sent after booking.

Milwaukee , Wisconsin

From $ 130.00

Join us for a private walking ghost tour of Milwaukee’s haunted historic Third Ward. As the largest city in Wisconsin with an industrial past, it’s no surprise that the city is riddled with spectral stories, which your guide will bring to life for you! In the mid-nineteenth century, the Third Ward was more commonly called the Blood Third, where roving thugs and gangs operated in the streets. It was also home to elegant hotels, prominent businesses, and hard-working families - which made for decades of reputational clashes in the neighbourhood. In 1892, a series of fires swept across the Third Ward and the city, leaving behind eery tales of mediums having predicted the fire, of sabotage and revenge - even stories from the fire chief who was awoken in his dreams by a voice to notify him of fires before the rest of the firehouse knew. Your private spectral tour is two hours and just under two miles, suitable for people of all ages, provided that adults are present with children.

Milwaukee , Wisconsin

From $ 29.00

Our very unique, immersive adventures are the only ones of their kind. We, unlike other companies, provide your very own remote, interactive, live host to assist and encourage you along through your phone. We are an Austin, TX-based global custom event design company offering scavenger hunts and other events in 300+ cities in North America and beyond. Our specially hand-crafted adventures are equal parts tour, creative challenge, detective hunt, and social experiment! Guests get to discover in an alternate reality our favorite hidden gems off the beaten trail and creatively interpret fun art, history, and culture clues - for points! They get to enjoy fame and glory while appearing on our website’s international leaderboard, no matter what their score. They get to essentially race other teams in other cities, even if they don’t have competitors who have signed up in their city that day. Get ready to discover unusual oddities, laugh out loud, and make the experience your own!

Milwaukee , Wisconsin

From $ 40.00

This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am. Embark with fellow guests on an unforgettable journey through the heart of Milwaukee, where history, culture, and vibrant energy converge to create an experience like no other. From the shores of Lake Michigan to the iconic Harley-Davidson Museum, immerse yourself in the rich tapestry of this dynamic city. Explore the historic Third Ward, where cobblestone streets lead to artisan boutiques and eclectic galleries. Indulge in the delights of the city's diverse neighborhoods from the viewpoint of a local, showcasing the best of local flavors. Discover the marvels of Milwaukee's skyline, including the stunning Milwaukee Art Museum with its iconic wings. Whether you're a history buff, a restaurant lover, or an art aficionado, this Milwaukee tour promises to captivate your senses and leave you longing to uncover more of its hidden treasures.

Milwaukee , Wisconsin

From $ 69.99

Explore the culinary delights of Downtown Kenosha on a 3-hour walking food tour. Sample iconic street tacos and the renowned thin crust pizza that Kenosha is famous for. Enjoy a unique discussion about Chicagoland's popcorn connection, followed by a refreshing stop at a local brewery to taste 4 beers alongside Wisconsin's beloved cheese curds. Throughout the journey, delve into the rich food history of Kenosha and the impact of immigration on its vibrant culinary scene. - 3-hour walking tour with 5 delicious food stops - Taste street tacos and Kenosha's famous thin crust pizza - Brewery visits includes sampling 4 beers and cheese curds - Learn about Kenosha's food history and immigration influences - During the tour we will walk by murals and various historic architecture - End the evening with ice cream

Milwaukee , Wisconsin

From $ 20.00

In Zombie Scavengers of Milwaukee , players will use an app to try to survive a zombie apocalypse. You'll do so by finding survival objects around the city, in any order you'd like, to get points and do fun zombie themed challenges for points as well. Use strategy to try and find as many items as possible in order to survive. Your survival team will be able to see the score on the app's rankings compared to teams across the country. You'll have a remote host via chat in case you need anything. Let's survive in Milwaukee today!

Milwaukee , Wisconsin

From $ 7.99

With 191 different blocks, it should come as no surprise that Milwaukee is known as a ‘City of Neighborhoods’. On this self-guided walking tour, you’ll be introduced to two of its most interesting suburbs, Brady Street and the Lower Eastside, and their architecture. You’ll begin by discovering the impact that Polish and Italian immigrants had on Brady Street Historic District, including delicious Italian cuisine at Sciortino’s Bakery and Glorioso’s Deli. Finally, you’ll stroll down the city’s former Gold Coast to end this tour at the Oak Leaf Trail on Prospect Avenue, giving you the opportunity to continue your Milwaukee adventure independently on the Lake Line Trail. This family-friendly tour is an easy stroll, with the option to pop inside some of the city’s most interesting churches. Come hungry, there are plenty of opportunities to grab snacks, or discover your new favorite restaurant along the route.