Located on the western shores of Lake Michigan, Milwaukee is a vibrant city, rich in cultural and historic attractions. This charming city is famed as a brewery hub and is home to nationwide breweries. The city is also home to the Harley Davidson Museum, which overlooks the Menomonee River and showcases an array of classic motorcycles and one exhibit focused on Elvis Presley. The Milwaukee Art Museum is an exquisite example of architectural art in itself. It is considered one of the largest museums in the United States and houses over 25,000 collections. The streets of Milwaukee offer a variety of restaurants, serving dishes ranging from authentic American cuisine to the exotic. With amazing accommodations such as spa hotels, not to mention unique RV rentals, this is the perfect place for a weekend getaway. Read on to find out more about the top day trips from Milwaukee, Wisconsin.
1. Sheboygan (from USD 99.0)
Located on the western shore of Lake Michigan, Sheboygan is a charming small town with a laid-back vibe. Spend the day strolling along the lakefront boardwalk, checking out local boutiques and galleries, and savoring delicious farm-to-table cuisine at one of the many restaurants.
During the afternoons, dip in the lake, enjoy a beach volleyball game at Deland Park Beach or explore the John Michael Kohler Arts Center to admire contemporary art installations. Beer lovers will want to take advantage of the opportunity to visit some of the town’s renowned breweries, like 3 Sheeps Brewing Company or 8th Street Ale Haus.
Sheboygan Small-Group Segway Sightseeing Tour
Duration: 95 to 120 minutes
2. Elkhart Lake
Elkhart Lake is a charming Wisconsin village perfect for a relaxing day trip. The best way to explore the city is by strolling through the picturesque downtown area and browsing the local shops and boutiques. Visit the world-renowned Road America race track, where you can watch high-speed racing or even tour the facility.
For those wanting a more laid-back activity, head to the beach to soak up some sun or rent a kayak to explore the crystal-clear waters of the lake. End your day by taking in the stunning sunset over the lake, creating a memorable experience that will last a lifetime.
3. Belgium, WI
Getting to Belgium, Wisconsin, from Milwaukee is no hard task. It will only take you around 40 minutes to cover the 37.7-mile (60.7-kilometre) distance. Visit the Luxembourg American Cultural Center and explore the town’s culture, map out the Ozaukee interurban Trail, or go swimming or hiking at Harrington Beach State Park. Though Belgium is a small village, there are so many activities to keep you busy, all day long.
Harrington Beach State Park
Address: 531 Co Rd D, Belgium, WI 53004, United States
Website: Harrington Beach State Park
Opening hours: 6am - 11pm (daily)
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4. Cedarburg, WI
For a fun day trip idea near Milwaukee, embark on an 18.3-mile (29.4-kilometer) journey toward Cedarburg and enjoy a full-day guided winery tour. The Cedar Creek Winery first began as a wooden mill, now it is famous for its cherry wines. This historic family-owned winery offers daily tasting and tours. If you prefer getting a private collection for back home, there is a wine shop selling their award-winning wine varieties.
5. Kohler, WI
Follow the I-43 N and travel 55 miles (88.5 kilometres) north for 1 hour to reach the beautiful town of Kohler. If you love design, you will love the Kohler Design Center. This amazing centre plays host to a museum and the famous Kohler Water Spa – one of 70 5-star spas in the world. Try out the town’s cuisine at the Blind Horse Restaurant and Winery, a restaurant famous for its scrumptious dishes and executive-style services.
6. Horicon, WI
If you choose to enjoy your weekend in Horicon, WI, you can explore the Horicon Marsh on a boat tour. You’ll get the chance to marvel at the natural wonders, cruising on the largest freshwater cattail marsh in the country. Sit and relax, while relishing the tranquillity of the marsh on a boat or rent a kayak or a canoe and paddle like an explorer. You will only have to spare 1 hour of your time to drive the 55.8 miles (89.8 kilometres) to Horicon city.
7. Racine, WI
Racine is a charming city, situated on the shores of Lake Michigan. It takes about 50 minutes by car to get to Racine. Racine North Beach offers day-trippers a chance to enjoy a weekend at the beach. This sandy lakefront has a relaxed aura, perfect for families on a day trip in Wisconsin. Petrifying Springs Park is famous for its green space, with hiking trails, picnic spots, and golf courses.
8. Madison, WI
Located only an hour and a half away, Madison is famed for its festivals. This city is also the capital of Wisconsin. There are various popular farmers markets to visit here, the Capitol building to tour, and the beautiful campus of the University of Wisconsin-Madison to explore. The city is home to the domed Wisconsin State Capitol, nestled on a narrow piece of land, between Lake Mendota and Lake Monona. If you are a history buff, the Wisconsin Historical Museum has documents showing the immigration and farming history of Wisconsin.
9. Wisconsin Dells, WI
Located in central Wisconsin, Wisconsin Dells is a small town with plenty of lakes, stunning natural beauty, and amazing attractions. During the summer months, the town bursts with tourists rushing to enjoy the tranquillity of the area.
A fun day trip to Wisconsin Dells, Wisconsin, approximately lasts 2 hours to cover the 102.2 miles (164.5 kilometres) distance. Once in the town, spend a day at Noah’s Ark Water Park. It is a famous themed water park with several waterslides, a wave pool, and aquatic rides. With all these exciting places to visit, Wisconsin Dells offers the best place for a family weekend.
10. Kenosha, WI
Kenosha City is located on the southwestern shore of Lake Michigan. If you are a history and art enthusiast, the waterfront Kenosha Public Museum will not fail to excite you. A one-day trip to Kenosha, Wisconsin, provides you with the chance to marvel at the model Native American village and mammoth skeletons. Climb the top of the Southport Lighthouse to enjoy scenic views of the city or visit the Southport Light Station Museum and see the exhibits within the 1860s lighthouse.
11. Fort Atkinson, WI
It takes only an hour to travel the 59.9 miles (96.4 kilometres) from Milwaukee to Fort Atkinson by car. This vibrant city sits on the Rock River, just a couple of miles from Lake Koshkonong. Take a quiet and private trip down the Bark River to enjoy a romantic day trip or just escape busy city life. Rent a canoe and paddle along the shores of the Bark River. This scenic venue is located about 5 miles southeast of Fort Atkinson.
12. Chicago, IL (from USD 37.57)
You will have to spend at least an hour and a half of your time to travel 92.3 miles (148.5 kilometers) to get to Chicago, IL. Once you reach your destination, be sure to enjoy a 40-minute classic lake tour, enjoying the best sites of Chicago, while cruising on Lake Michigan. Learn all co can about the city’s stunning architecture and history with the help of a local guide. If you are looking for a more thrilling activity, try out the Navy Pier Centennial Wheel. If the height doesn’t bother you, the city views will blow your mind.
Chicago: Lake Michigan Skyline Cruise
Duration: 40.0 minute
Day trips around Milwaukee
Day trips and road trips are always exciting, especially when you’re with friends or family. With this list in hand, your work has been made easy. Take your family out on a surprise day trip and get to enjoy peace of mind, away from hectic city life.
Frequently asked questions about day trips from Milwaukee, Wisconsin
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