Things to do in Milwaukee, Wisconsin (WI): The Best Tours

November 11, 2021 Mollie Coke

Located on the shores of Lake Michigan, Milwaukee is perhaps best known for its famous breweries and the Major League Brewers, but there's more to the city than beer and baseball. Milwaukee is rich in historical and cultural attractions, making it the perfect place for a weekend of exploring. Check out the newly expanded Milwaukee Art Museum or the Mitchell Park Horticultural Society, which hosts an annual show of the same flora and fauna seen in Georgia O'Keefe's paintings. Those interested in the city's history can visit the grand Pabst Mansion, former home of one of the city's famous beer barons, or the Milwaukee Public Museum, to see what life was like in Old Milwaukee. If the kids are along, don't miss the Milwaukee County Zoo or the Betty Brinn Children's Museum. Of course a trip to the "Genuine American City" would not be complete without a tour of the Miller Brewing Company and a Brewers game at Miller Park.
Restaurants in Milwaukee

1. Milwaukee Kayak Rental

820 S Water St, Milwaukee, WI 53204, USA Brew City Kayak
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5.0 based on 10 reviews

Brew City Kayaks offers kayak rentals for people who want to explore the Milwaukee River at their own pace. Rent a Single Kayak for up to 4 hours for only $55! 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.

Inclusions: Kayak, Paddle, PFD (Life Jacket), Instruction

Exclusions: Alcoholic drinks (available to purchase), Food and drinks (available to purchase), Gratuity

Reviewed By davidcC6624DJ

Your staff was excellent in knowledge and in human relations. They made us very relaxed and therefore we had a purely enjoyable experience.

2. Christmas Past, Present and Future Light Tour

1130 N 9th St, Milwaukee, WI 53233, USA City Tours MKE
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5.0 based on 1 reviews

Expect an interactive evening of caroling and hopping on & off the cruiser/bus 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. Of course, we could never forget what Milwaukee is known best for – beer! Together, we’ll take a step back in time as we walk through Best Place at Pabst to revisit Milwaukee’s history & rich holiday traditions & of a course, a drink! 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: 2 drinks (you must be 21 to consume alcohol) Light up glass 3D glasses Cruiser- 5 guest/car Bus-12 guest

Inclusions: Includes a drink or chocolate, Light up glass, 3-D Glasses

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Reviewed By andreamS9064VY

Very informative and MaryBeth was an amazing tour guide!! Was a perfect way to learn the history of Milwaukee in a quick and succinct way - while seeing the whole city.

3. The Grand Walk: An audio tour through Milwaukee's historical and cultural heart

Milwaukee Public Library Central Branch, 814 W Wisconsin Ave, Milwaukee, WI 53233, USA VoiceMap Milwaukee
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5.0 based on 2 reviews

Catch a glimpse of the turn of the century opulence that made this the grandest street in Milwaukee. This history-based, sightseeing self guided audio tour begins at the Milwaukee Public library and ends at the Milwaukee Art Museum.

Inclusions: Lifetime access to this tour in English, VoiceMap App for Android and iOS, Offline access to audio, maps, and geodata

Exclusions: Tickets or entrance fees to any museums or other attractions en route, Smartphone and headphones, Transportation, Food/Drink

4. Milwaukee Secret Food Tour w/ Private Tour Option

Milwaukee Public Market, 400 N Water St, Milwaukee, WI 53202, USA Secret Food Tours Milwaukee
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5.0 based on 61 reviews

Milwaukee is called many names; Brew City, City of Festivals, and Cream City, but it is most recognized as the place for great beer and cheese in the Upper Midwest. The large 19th century Germanic population continue to influence our local food products and dishes while some of the best restaurants from the historic Third Ward to East Town Downtown. When booking our winter exclusive Skywalk Food Tour you'll get to experience and enjoy all the best we have to offer from a warm second-story perspective. You'll get to experience and enjoy all the best we have when you book our Secret Food Tour: Milwaukee.

Inclusions: Lunch

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Reviewed By 561victorb

We had an awesome time with Ross during the tour. We got to experience Milwaukee through its food and did some walking downtown. We had a pretty fun experience, even though the weather was pretty cold outside we got to walk around downtown through the Skywalks.

5. Milwaukee Tour

Milwaukee City Hall, 200 E Wells St, Milwaukee, WI 53202, USA Untapped Tours
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4.9 based on 365 reviews

Tap into Milwaukee's famous attractions and history as well as other sights you may not have known existed. Don't just see Milwaukee, experience it!

Inclusions: Driver/guide, Live commentary on board

Exclusions: Does not include paid parking, available across Water Street in an underground parking garage., Gratuities, Hotel pickup and drop-off

Reviewed By marcia0427

We had a very pleasant day with Mike. He shared incredible insight into all aspects of this beautiful city. There was nothing he didn’t know.

6. Skip the Line: Museum Admission Ticket - Grohmann Museum

Grohmann Museum
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4.9 based on 13 reviews

On the campus of the Milwaukee School of Engineering, the Grohmann Museum is unique in that it's the only museum of its kind in the country, and perhaps the world. Nowhere else will you find a collection and exhibition program dedicated to the art of labor, engineering, and human achievement.

Inclusions: Entrance ticket

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Reviewed By Pittsburgh_cyclist

The highlight is definitely the rooftop sculpture garden, but the Grohmann Museum offers a unique insight into the way artists have depicted labour over the years. My main criticism is that it is a personal collection so the works on display reflect Mr Grohmann’s prejudices - there are few Black people and the workers are largely male. Even so, I spent two hours here and learned a lot.

7. Discover Iconic Milwaukee Tour

1130 N 9th St, Milwaukee, WI 53233, USA City Tours MKE
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4.9 based on 52 reviews

This tour has a minimum requirement. A 90-120 minute tour that showcases the historic City of Milwaukee! We'll see some popular tourist destinations, as well as some hidden gems around the city, all while educating you about Milwaukee's vibrant and exciting history. This tour has customizable options, and different lengths to suit your schedule! These tours only seat 5 guests per vehicle. For a private tour please reserve in 5 seat increments and the full Cruiser will be dedicated to your group only. Tour Days: 7 days a week. Tour Times: 10, 12, 2 & 4pm

Inclusions: Private transportation

Exclusions: Beverages are not provided by City Tours MKE, however guests are allowed to bring their own beverages and snacks aboard.

Reviewed By Cheryl J

Devin was our cruise director twice & amazing as well as Meagan who kept me up with details I so appreciate the personal comment about my feline loss We were very happy !!!

8. Doctor K's Lethal Injection - Escape Room Mission

Escape MKE, 3333 N Mayfair Rd #314, Milwaukee, WI 53222, USA Escape MKE
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4.8 based on 22 reviews

Clocks, locks and secret passages Fully themed escape room experience Your team has 60 minutes to find the hidden asset and escape You'll need your wits, teamwork & a lot of critical thinking Get your team's score on the leaderboard The evil Dr. Kevorkianstein has plans to infect the world with a blood-borne pathogen virus he has synthetically created in his laboratory. His plan after he infects the world is to sell the only known antidote and make billions. You and your team of CDC Agents must search his lab, find his notes, and make a version of the antidote to be analyzed back at headquarters. You must hurry as you have just 60 minutes before Dr. K returns! Can you escape and save the world?!

Inclusions: Fully themed mission experience

Exclusions: Food and drinks

Reviewed By andreigC4066RD

The mission was great. Made us think a lot. Great experience all around. The staff was great. Love how the staff actually start of the mission

9. Investigation of a Miss Treedeath Mission - Escape Room Mission

Escape MKE, 3333 N Mayfair Rd #314, Milwaukee, WI 53222, USA Escape MKE
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4.7 based on 29 reviews

Clocks, locks and secret passages Fully themed escape room experience Your team has 60 minutes to find the hidden asset and escape You'll need your wits, teamwork & a lot of critical thinking Get your team's score on the leaderboard

Inclusions: Fully themed mission experience

Exclusions: Food and drink

Reviewed By 772sunitg

There is one hidden secret in the room that's super cool. I will not try to give it away haha but I can tell you this that you would be handcuffed for this game.

10. The Raid on Mr. Croft's Museum - Escape Room Mission

Escape MKE, 3333 N Mayfair Rd #314, Milwaukee, WI 53222, USA Escape MKE
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4.7 based on 27 reviews

Clocks, locks and secret passages Fully themed escape room experience Your team has 60 minutes to find the hidden asset and escape You'll need your wits, teamwork & a lot of critical thinking Get your team's score on the leaderboard

Inclusions: Fully themed mission experience

Exclusions: Food and drink

Reviewed By andreigC4066RD

The mission was great. Made us think a lot. Great experience all around. The staff was great. Love how the staff actually start of the mission

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