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Milwaukee, Wisconsin has had a special place in our hearts ever since our first visit back in 2016. The city made such a lasting impression that we’ve found ourselves coming back again and again. On our 2021 Summer with Mom road trip, we loved showing Momma Russo around some of our favorite spots, and this summer, we had the joy of introducing my parents to one of our favorite cities in the Midwest.
We hope you’ll enjoy exploring “Brew City” as much as we do and maybe even fall in love with a few of our favorite things to do in Milwaukee.
Things to Do in Milwaukee
What’s so great about Milwaukee, Wisconsin you ask? For starters, the people are genuinely kind, the city is packed with festivals, and it’s both walkable and easy to navigate by car. You’ll find activities along the Milwaukee River, layers of history and culture, amazing food, endless breweries (and yes, plenty of cheese curds).
Walk, Bike, Kayak or Cruise the Milwaukee Riverwalk
Depending on how active you want to be, there are many ways to enjoy the Milwaukee River. Take a stroll or go for a bicycle ride on the Riverwalk. The paved path stretches along both sides of the river offering wonderful views of downtown Milwaukee.
Where is the Fonz from Happy Days? You can find the Bronze Fonz statue in Downtown Milwaukee where Wells Street crosses the river. While you’re in the area, keep an eye out for Gertie the Duck and her six ducklings.
One of our favorite ways to experience Milwaukee is from the water, by kayaking along the river. The city’s striking architecture and rich history take on a whole new perspective when you’re paddling through its channels. Along the way, you’ll find public boat docks where you can pull over for a break or even grab a bite to eat. A four-hour kayak rental gave us plenty of time to explore both the river and the harbor at a relaxed pace.
If kayaking isn’t your style (or even if it is!), we also recommend a scenic cruise along the Milwaukee River. We’ve taken the tour with The Milwaukee Boatline twice now on their Vista King, and it’s always a highlight. The narration strikes a great balance of fun and informative, and the views alone are worth the ticket. You can even catch a glimpse of our very first Milwaukee boat tour in the video below.
Brewery Tours: Lakefront, MKE Brewing & Best Place
No trip to Milwaukee is complete without a brewery tour, it’s practically a rite of passage in Brew City. Two of our favorites are Lakefront Brewery and Best Place at the Historic Pabst Brewery, each offering a totally different (but equally memorable) experience.
For a funny tour with great views and good eats, head over to Lakefront Brewery. The 50-minute tour kicks off with a beer sample of your choice, then takes you behind the scenes with plenty of humor mixed in. Afterward, grab a seat on the riverside patio and enjoy a few more samples while soaking in the atmosphere.
If you’re more of a history buff, head over to Best Place at the Historic Pabst Brewery. This tour dives into Milwaukee’s deep brewing heritage and the story of how Pabst Blue Ribbon became a household name. Of course, it’s best enjoyed with a pint of PBR in hand.
Meet the Beer Barons that Made Milwaukee Famous
Milwaukee is often referred to as the “Beer Capital of the World.” Remember these four names as you explore the city: Schlitz, Pabst, Blatz, and Miller. If you only have time for one tour, then head to Pabst Mansion. The guided tour reveals fascinating history about the Pabst family with a detailed look inside their 20,000 square foot mansion. One of the highlights for me is Captain Pabst’s My Dear Children letter on display in his study.
Spend a Day or Two at the Museums
Two of Milwaukee’s most popular museums are the Milwaukee Art Museum and the Harley Davidson Museum. The Art Museum is an architectural landmark on the lakefront, home to a stunning collection that ranges from classic to contemporary. Over at the Harley-Davidson Museum, you don’t need to be a motorcycle enthusiast to have a good time. The exhibits highlight design, culture, and history, including Harley’s fascinating role in WWII.
If you’re looking for more options there’s the Betty Brinn Children’s Museum featuring interactive learning and the always free Haggerty Museum of Art at Marquette University.
Dine at Some of the Best Places to Eat in Milwaukee
Milwaukee has an incredible food scene, and over the years we’ve found a few favorites that we keep going back to.
Friday Fish Fry
If you happen to be at Lakefront Brewery on a Friday, don’t miss their classic beer-battered fish fry. The combo platter with crispy cod and golden potato pancakes is a true Wisconsin tradition.
For more fish fry options, head over to OnMilwaukee’s Fish Fry Guide.
Cranberry Walnut Bread
For something on the sweeter side, head to Rocket Baby Bakery, where the shelves are lined with fresh-baked artisan breads. Whether you’re after a crusty baguette or a hearty sourdough, they’ve got you covered. Our personal favorite is the cranberry walnut sourdough made with whole wheat and rye.
Garlic Cream Sauce Pizza
At Transfer Pizzeria Cafe, the real question isn’t what toppings to get, it’s which sauce to choose. Their garlic cream sauce is legendary, especially on the Garlic Lover’s pizza with sausage and pepperoni (a post-kayaking favorite of ours). But if you’re more of a purist, their classic red sauce pies deliver that comforting, traditional flavor.
Brunch Any Day of the Week
You don’t have to wait for the weekend to enjoy brunch in Milwaukee. Blue’s Egg offers house made baked goods and favorite brunch items everyday of the week. Snag a seat at the bar to avoid the long wait for tables. My favorite item is the house made english muffin served with whipped butter.
Bratwurst in a Pretzel Bun
The Milwaukee Public Market is a unique food destination in the Historic Third Ward featuring a range of local fare. The variety of stalls serve dishes from bratwurst to lobster all under one roof. In the mood for a pour over coffee or custom made salad? There are stalls serving that too.
Spice Up Your Cupboard
For anyone who loves to cook, a visit to The Spice House is a dream come true. The wide selection of high quality spices will have you wondering if there’s room in the cupboard for all of it. The best part is you can sample every spice before you buy. Just be careful with some of their chili powders.
Squeaky Wisconsin Cheese Curds
Wisconsin is proud of their cheese, especially squeaky cheese curds. Whether you like it fresh or deep fried, there are plenty of spots to try Wisconsin cheese curds. We love the fresh cheese curds at Clock Shadow Creamery. For the best deep fried cheese curds, head over to our Green Bay Travel Guide!
Attend a Festival
Milwaukee is home to countless festivals, and every time we’ve visited, there always seems to be something happening, especially in the summer. From cultural celebrations to food and music fests, the city really knows how to throw a party.
One of our personal favorites is German Fest, which we’ve had the chance to attend twice. It’s a lively mix of polka music, cultural activities, schnitzel, bratwurst, giant pretzels and plenty of beer. But our favorite part has to be the live glockenspiel show, where costumed performers bring the tradition to life with music. It’s quirky, fun, and unlike anything we’ve experienced at another festival.
Where to Camp in Milwaukee, Wisconsin
We’ve camped at Cliffside Park in Racine about 30 minutes south of Milwaukee. Below are some other options.
To quickly find campgrounds, RV dumps, propane fills, potable water and more RVing/camping resources we use Allstays. Check out our AllStays Review.
Find nearby Harvest Hosts. Members have access to vineyards, farms, museums, breweries and more. Read our Harvest Hosts Review or use our referral link to receive a discount.
Check Boondockers Welcome to see if there’s a host member in the area that can accommodate an overnight RV stay. Read our Boondockers Welcome Review or use our affiliate link to sign up.