15 Best Day Trips from Milwaukee

Milwaukee, Wisconsin, is more than just a vibrant city known for its brewing heritage and stunning lakeside views; it’s also your perfect launchpad for incredible adventures across the Midwest! Imagine spending your morning exploring a historic racing track and your afternoon stepping back in time at a living history museum, all within a short drive. The beauty of Milwaukee’s location is its proximity to a diverse array of experiences, from thrilling amusement parks and serene natural landscapes to charming small towns and bustling metropolises. Whether you’re a history buff, an outdoor enthusiast, a culture seeker, or a family looking for fun, these 15 day trips offer something truly special.

To make the most of your explorations, consider visiting during the spring or fall when the weather is pleasant and crowds are generally lighter. Summer offers vibrant festivals and warm lake activities, though popular spots can be busier. Renting a car is highly recommended for maximum flexibility, allowing you to discover hidden gems and picturesque routes at your own pace. Get ready to uncover the rich tapestry of Wisconsin and beyond, one unforgettable day trip at a time!

Milwaukee Mile

Step back in time to the roaring engines and thrilling finishes at the Milwaukee Mile, America’s oldest continuously operating motor speedway. This historic track, dating back to 1903, has witnessed over a century of racing legends, from IndyCars to NASCAR and USAC. While it may not host weekly races, the Mile comes alive for special events, concerts, and car shows throughout the year, offering a nostalgic glimpse into motorsport history.

You can feel the echoes of champions past as you walk the hallowed grounds, imagining the roar of the crowd. It’s a fantastic spot for racing enthusiasts who appreciate the heritage of the sport, and even if there isn’t a major event, simply visiting the grounds can be a poignant experience. Check their schedule for public events like swap meets or car club gatherings, which often provide unique access and a vibrant atmosphere. You’ll find yourself immersed in a piece of American sporting history, right on Milwaukee’s doorstep.

Six Flags

For an adrenaline-fueled escape, head south to Six Flags Great America in Gurnee, Illinois, just an hour’s drive from Milwaukee. This sprawling theme park is a paradise for thrill-seekers and families alike, boasting an impressive collection of world-class roller coasters, family rides, and live entertainment. You can brave the towering drops of Goliath, experience the dizzying loops of Raging Bull, or enjoy classic carousel rides with younger children.

Beyond the rides, the park features a vibrant atmosphere with arcade games, character meet-and-greets, and seasonal events like Fright Fest in the fall or Holiday in the Park during winter. It’s an ideal destination for families with children of all ages, groups of friends, or anyone looking for a full day of exhilarating fun. Pack your sense of adventure and get ready for screams, laughter, and unforgettable memories at one of the Midwest’s premier amusement parks.

Old World Wisconsin

Journey back to the 19th and early 20th centuries at Old World Wisconsin, an immersive outdoor museum in Eagle, about an hour southwest of Milwaukee. This incredible living history site brings the stories of Wisconsin’s diverse immigrants and early settlers to life through meticulously restored historic buildings, working farms, and costumed interpreters. You can wander through a Norwegian homestead, visit a German farm, or observe a blacksmith at work in the village.

Engaging with the interpreters, who perform daily chores and demonstrate traditional crafts, offers a unique educational experience for all ages. Old World Wisconsin is perfect for families, history enthusiasts, and anyone curious about the state’s pioneering past. It’s a place where you don’t just read about history; you live it, smell it, and hear it, creating a truly memorable and educational day out.

Racine

A quick drive south along the scenic Lake Michigan shoreline brings you to Racine, a charming city boasting a rich Danish heritage and a vibrant arts scene. You can start your day with a visit to the iconic Frank Lloyd Wright-designed SC Johnson Administration Building and Research Tower, offering free tours of stunning architecture.

Then, stroll along the Root River, explore the beautiful Racine Art Museum, home to one of the largest contemporary craft collections, or relax on the sandy shores of North Beach, consistently ranked among the best freshwater beaches. Racine is a fantastic day trip for architecture buffs, art lovers, and families looking for a relaxed lakeside escape. Don’t forget to sample a Kringle, Racine’s official state pastry, a flaky, fruit-filled Danish delight that’s truly unique to the area.

Chicago

For an exhilarating urban adventure, hop on a train or drive south to Chicago, Illinois – the Windy City offers an endless array of world-class attractions just 90 minutes from Milwaukee. You can marvel at iconic skyscrapers like the Willis Tower and John Hancock Center, explore renowned museums such as the Art Institute of Chicago or the Field Museum, or simply wander through Millennium Park to see “The Bean.” Indulge in deep-dish pizza, catch a Cubs game at Wrigleyville, or enjoy a scenic boat tour on the Chicago River, showcasing the city’s incredible architecture.

Chicago is ideal for solo travelers, couples, and families seeking a bustling city experience with diverse cultural, culinary, and entertainment options. Its vibrant energy and iconic landmarks promise a day packed with exploration and excitement.

Fort Atkinson

Nestled along the Rock River, Fort Atkinson offers a delightful blend of history, nature, and small-town charm, making it a peaceful day trip from Milwaukee. You can delve into the past at the Hoard Historical Museum and National Dairy Shrine, which celebrates Wisconsin’s rich agricultural heritage and the history of the dairy industry. Explore the expansive Rotary Riverwalk, a scenic trail perfect for walking or biking that winds along the river and through lush parks.

Nature lovers will appreciate the nearby Kettle Moraine State Forest – Southern Unit, offering hiking and picnicking opportunities. Fort Atkinson is perfect for history buffs, outdoor enthusiasts, and families looking for a relaxed pace. It provides a serene escape from city life, inviting you to connect with nature and learn about the region’s pioneering spirit.

Kenosha

Just a short drive south on I-94, Kenosha offers a vibrant lakefront experience with a unique blend of history, museums, and scenic beauty. You can hop aboard the charming Electric Streetcar, which loops around the downtown and lakefront, providing easy access to attractions. Explore the Civil War Museum, which offers a powerful perspective on the war’s impact on the Midwest, or delve into natural history at the Dinosaur Discovery Museum.

The Kenosha Public Market (seasonal) is a great spot to find local goods. With beautiful beaches, a picturesque harbor, and diverse dining options, Kenosha is ideal for families, history enthusiasts, and anyone seeking a relaxed lakeside day trip with plenty to explore. Its compact downtown makes it easy to navigate on foot or by streetcar, ensuring a delightful day.

Kettle Moraine State Forest and Ice Age National Scenic Trail

Escape into nature’s embrace at the Kettle Moraine State Forest and Ice Age National Scenic Trail, a stunning landscape shaped by ancient glaciers, located just an hour west of Milwaukee. This vast forest offers an incredible array of outdoor activities, from hiking and biking on well-maintained trails to picnicking and birdwatching. You can explore unique geological formations known as kames, kettles, and eskers, remnants of the last ice age, or simply immerse yourself in the tranquil beauty of the woodlands.

The Ice Age National Scenic Trail winds through parts of the forest, providing opportunities for challenging long-distance hikes or shorter scenic strolls. It’s a perfect destination for hikers, bikers, nature photographers, and families looking to connect with the outdoors. Remember to purchase a state park pass for entry.

Lake Geneva

Indulge in a taste of luxury and lakeside charm with a day trip to Lake Geneva, a popular resort town just over an hour southwest of Milwaukee. This picturesque destination is renowned for its stunning mansions lining the lake, crystal-clear waters, and vibrant downtown. You can take a scenic boat tour to admire the grand estates and learn about the area’s rich history, or simply stroll along the public lake path, which circumnavigates the entire lake and offers breathtaking views.

Enjoy boutique shopping, fine dining, or a relaxing afternoon on the beach. Lake Geneva is perfect for couples seeking a romantic getaway, families looking for water activities, or anyone who appreciates elegant surroundings and natural beauty. It offers a sophisticated yet relaxed atmosphere for a memorable escape.

Kohler

Discover a unique blend of industrial innovation and artistic design in Kohler, Wisconsin, a meticulously planned village just under an hour north of Milwaukee. Famous for its plumbing fixtures, Kohler offers much more than just faucets and toilets. You can explore the stunning Kohler Design Center, showcasing cutting-edge bathroom and kitchen designs, or take a free factory tour to see the manufacturing process firsthand (reservations often required).

The village itself is a testament to thoughtful urban planning, featuring beautiful architecture and green spaces. For a truly luxurious experience, visit The American Club, a five-star resort with world-class dining and a renowned spa. Kohler is a fascinating destination for design enthusiasts, history buffs, and anyone interested in unique industrial heritage. It’s a testament to a company’s vision and its impact on a community.

Cedarburg

Step into a charming slice of Americana with a visit to Cedarburg, a historic town located just 30 minutes north of Milwaukee. Cedarburg is renowned for its well-preserved limestone buildings, quaint shops, art galleries, and the Cedar Creek Settlement, a collection of historic buildings housing a winery, shops, and restaurants. You can stroll along Washington Avenue, browse unique boutiques, and sample local wines at Cedar Creek Winery.

The town hosts numerous popular festivals throughout the year, including Strawberry Festival and Winter Festival, adding to its vibrant atmosphere. Cedarburg is an ideal day trip for shoppers, art lovers, history enthusiasts, and anyone seeking a picturesque, walkable town with a welcoming community feel. Its timeless beauty makes it a delightful escape.

Green Bay

Immerse yourself in the legendary spirit of the Green Bay Packers with a day trip to Green Bay, home of Lambeau Field, about two hours north of Milwaukee. Even if you’re not a die-hard football fan, the stadium tour offers a fascinating glimpse into the history of one of the NFL’s most iconic teams. Beyond football, Green Bay offers the National Railroad Museum, where you can explore historic locomotives, and the Bay Beach Amusement Park (seasonal), known for its affordable rides.

The city also features the beautiful Green Bay Botanical Garden. Green Bay is a must-visit for sports fans, history buffs, and families looking for diverse attractions. It’s a city proud of its heritage, both athletic and industrial, offering a unique Wisconsin experience.

Horizon Marsh

For a tranquil immersion in nature, journey to Horicon Marsh, the largest freshwater cattail marsh in the United States, located about an hour northwest of Milwaukee. This immense wetland is a critical stopover for migratory birds, making it a birdwatcher’s paradise. You can explore the Horicon Marsh Education and Visitor Center, which offers interactive exhibits and observation areas, or drive the scenic auto tour routes.

Kayaking, canoeing, and hiking are popular activities, allowing you to get up close with the diverse wildlife, including geese, ducks, cranes, and even pelicans. Horicon Marsh is an essential visit for birdwatchers, photographers, and anyone seeking a peaceful connection with nature. It’s a truly spectacular natural wonder, offering a serene escape and incredible opportunities for wildlife observation.

Indian Mounds and Trail Park

Discover a fascinating piece of ancient history at Indian Mounds and Trail Park in Fort Atkinson, a serene and educational day trip just over an hour from Milwaukee. This unique park preserves a collection of effigy mounds constructed by Native American cultures over a thousand years ago, shaped into various animal forms like birds and bears. You can walk the well-maintained trails that wind through the woods, respectfully observing these ancient burial and ceremonial sites.

Interpretive signs provide context, explaining the significance of the mounds and the cultures that created them. This park is a profound experience for history enthusiasts, nature lovers, and anyone interested in Native American heritage. It offers a quiet, contemplative journey into Wisconsin’s deep past and reminds us of the land’s original inhabitants.

Ten Chimneys

Step into the glamorous world of theater legends Alfred Lunt and Lynn Fontanne at Ten Chimneys, their enchanting historic estate in Genesee Depot, about 45 minutes west of Milwaukee. This National Historic Landmark was the summer home and creative sanctuary for the celebrated Broadway couple, hosting an array of famous friends and luminaries throughout the 20th century.

You can take a guided tour through their exquisitely preserved home, filled with original furnishings, personal belongings, and fascinating stories of their lives and careers. From the whimsical details of their décor to the serene beauty of the grounds, Ten Chimneys offers a unique glimpse into a bygone era of theatrical brilliance. It’s a must-visit for theater lovers, history buffs, and anyone who appreciates art, design, and captivating narratives.

Plan Your Visit

As you can see, Milwaukee is not just a destination in itself, but a vibrant gateway to an incredible tapestry of experiences across Wisconsin and even into Illinois. From the thrilling rides of Six Flags and the historic engines of the Milwaukee Mile to the serene wetlands of Horicon Marsh and the elegant shores of Lake Geneva, these 15 day trips offer an unparalleled diversity that caters to every interest and every traveler. You’ve got options for history buffs, nature enthusiasts, art lovers, and families seeking adventure.

Don’t let your Milwaukee journey end at the city limits; let it be the starting point for exploring charming small towns, bustling metropolises, and stunning natural wonders. With a little planning and these detailed cost insights, you can easily craft a series of memorable day trips that fit your budget and your desires. So pack your bags, fuel up your car, and get ready to discover the rich, varied beauty that awaits just beyond Milwaukee’s horizon!