a complete travel guide to Milwaukee with 12 things to see + do

Wondering how to spend the ultimate weekend in Milwaukee? In this comprehensive travel guide, I detail the perfect 2-day itinerary, including the best things to do, places to stay, and food to eat while you’re there.

Milwaukee, Wisconsin, is a city that often gets overlooked by tourists, myself included. It fully surprised me as a hidden Midwest gem brimming with things to do. From its thriving craft beer scene to its world-class museums and stunning waterfront, Milwaukee has something for everyone. In this article, I’m sharing the best things to see and do in Milwaukee. Whether you’re excited about exploring historic landmarks or a foodie ready to sample the delicious local cuisine.

Prior to my visit, what I knew about Milwaukee could be summed up in three things: 1) It’s known for its beer, 2) it’s close to Chicago, 3) sports reign supreme (Milwaukee has an MLB, NHL, and NBA team). Determined to learn more about the Midwest and uncover as many hidden gems in the region as possible, I headed to Wisconsin.

At the invitation of Visit Milwaukee, I spent three days getting to know Brew City and all its quirks. I left asking myself, “Why are people sleeping on Milwaukee?” I still can’t figure out how this Midwest city of 600,000 people has been able to remain such an underrated travel destination. It almost felt like we’d stumbled upon a “hidden gem” of sorts. I’ve created this guide so that first-time visitors, like us, can skip straight to the good stuff. In this post, I’ve included where to stay, what to see and do, and where to eat (plus what delicious goods to order) in Milwaukee to guarantee you have the absolute best stay in “Little Chicago”.

Disclosure: My trip to Milwaukee was hosted and made possible by Visit Milwaukee, however, all my opinions are my own and my experiences are represented authentically.

how to get to Milwaukee ↴

Milwaukee is serviced by General Mitchell International Airport and has connections with most major U.S. destinations. There is also an Amtrak train station in Milwaukee; a great option for those traveling from Chicago since seats start at as little as USD $22.

If you are already in the Midwest of the United States, you may want to drive to Milwaukee.

Chicago - 1 hour 40 minutes
Indianapolis - 4 hours 20 minutes
Minneapolis - 5 hours

where to stay in Milwaukee ↴

Aloft Milwaukee Downtown is centrally located in the heart of the city. Aloft is beautifully designed and ideally suited for couples, business travelers, and those visiting without a vehicle. The suites are super spacious, with all the basic amenities every good hotel should have: strong WiFi, a comfortable bed, great views of the city, and clean common spaces. Valet parking is available at additional cost, but there is also parking for just USD $8 per day at a nearby parking lot (added in the map at the bottom of this post).

where to eat + drink in Milwaukee ↴

Milwaukee Public Market | I wasn’t expecting much from the Milwaukee Public Market, but that was a mistake. The Public Market absolutely impressed me with how many independent food vendors fit into a relatively small (albeit airy) space.

Colectivo Coffee | Fairtrade coffee. An openly inclusive space (LGBTQIA+ safe). Incredible food. The funkiest playlist fills the airwaves. Colectivo was our first breakfast stop in Milwaukee and we could not have picked better. The to-go cups were made of agave and fully biodegradable. The staff was welcoming and warm the instant we walked in, despite the busy queue of customers. I would have happily brought my laptop here and spent a day working while watching people from the windows.

Brunch | With an upscale dining menu and 80’s pop culture references all around, you can’t lose at Brunch. It’s a combination of all the best things about the best meal of the day: a cheery atmosphere, good food, and generous pour mimosas.
Build-A-Breakfast | Breakfast is served all day, which means you get to indulge in your favourite menu items at any time. The menu items here are all-natural and ethically sourced. You can’t miss the custom logo-stamped waffles!

Sweet Diner | Nestled in the heart of the famous Third Ward district of Milwaukee, Sweet Diner is the cure to all your breakfast food cravings. The sleek white marble tabletops and ultra-chic interior are the cherries on top of the delectable menu. If Caramel Apple Pancakes or Challah French Toast don’t tickle your fancy, try the Wisconsin Omelette with pork sausage and cheese curds.

Lakefront Brewery | Right on the water, complete with patio seating and a highly-inclusive menu— it’s easy to see why Lakefront Brewery is a landmark eating and drinking establishment in Milwaukee. I had a giant Caesar salad that was fresh and crisp, while Luke munched down on the best plant-based chicken tenders of his life (a food review I absolutely agree with). “Fish Fry Friday” is a favourite local tradition, complete with polka music. Grab a Bavarian Pretzel and one of their many, many beers on tap, and you’ve got the makings of a fantastic night out.
Sherman Phoenix | Sherman Phoenix was a space created with the vision to heal a community. After a fatal police shooting that took place in 2016, the Black community banded together to create a safe space where Black-owned businesses could thrive. The fire-damaged BMO Harris Bank building was transformed into a commercial space where currently 27 small businesses offer everything from art activities, to wellness programs, to delicious food. Visiting Sherman Phoenix not only ensures you a delicious meal, but is also a great way to support Black-owned businesses. Some of my recommendations for within Sherman Phoenix are: Sauce + Spice Pizza, Purple Door Ice Cream, and Confectionately Yours.
Good City Brewing | Milwaukee has plenty of fabulous breweries for you to pick from, but Good City Brewing is among the top.
Casablanca | This Middle Eastern restaurant is complete with belly dancers. We rave about their Spinach Artichoke dip, but meat-eaters love their chicken kebabs.
Wy’east Pizza | Who doesn’t love pizza? Wy’east makes their pizza on hand-stretched, fermented dough that’s cooked to perfection in a woodfire oven. The result is a crispy, slight-charred base topped with the finest, freshest ingredients.
Zócalo Food Park | If I could have another single meal in Milwaukee, I would eat at Zócalo Food Park; a huge call to make considering just how deep the bench of Milwaukee dining establishments is to choose from. Zócalo is a diverse collection of food trucks that, for me, ticks all the boxes. It has a true community feel and features global cuisines so that there is something for everyone. Zócalo’s outdoor picnic seating area is lit with strings of twinkly lights and includes heated "glass house” structures for those chilly, autumn nights. Because of the wide variety of food on offer, Zócalo is the ideal place to go when everyone in your group is craving something different.
Damascus Gate | The Middle Eastern cuisine served at the unassuming Damascus Gate is next-level delicious. Here you’ll find classics like Falafel and Kefta Kebab, as well as more specialty dishes, including Fatayer (spinach and cheese pie) and Muhallaya (Syrian rice pudding). The menu has plenty of vegetarian-friendly options, which made it a dream to dine at. As a beautiful mission, Damascus Gate is committed to empowering Syrian refugees, by providing them with managerial and operational jobs.
Kopp’s Frozen Custard | Ask most Milwaukee locals where to find the best frozen custard in the city, and they’ll likely point you in the direction of Kopp’s.

when to visit Milwaukee ↴

Milwaukee has four seasons and they all offer their own opportunities for recreation. Still, I recommend visiting the city in the summer or early autumn months. Visiting between June and September guarantees that you’ll experience warm, sunshine-y days.

Spring | Temperatures average around 12°C, making it a chilly time for a visit.
Summer | Expect warm temperatures hovering around 26°C. This is when the city is its busiest, but Milwaukee truly comes alive with beer gardens open and sporting events in full swing.
Autumn | Autumn shows off in Milwaukee with bright red and orange foliage, apple orchards, and corn mazes.
Winter | Winters in Milwaukee are freezing cold and regularly dip below 0°C, but don’t let that put you off. There are loads of museums and indoor activities to keep you warm, and adventurers can enjoy the city’s snow fun.

what to see + do in milwaukee ↴

head to The Milwaukee Public Museum

The Milwaukee Public Museum (MPM) is one of a few major museums in the U.S. that dates back to the late 19th century. Since its establishment in 1882, it has grown to cover four floors. Exhibits explore a variety of topics across science and history.

get artsy at The Saint Kate Arts Hotel

This boutique hotel is beautiful accommodation, but it also houses an art museum where you can wander while you wet your whistle with bubbly.

shop at Sherman Phoenix

I know I already mentioned this place for food above, but Sherman Phoenix is more than a meal stop. Here, Black business owners host wellness programs, like yoga classes, and sell their artwork. Come to shop, stay to Shavasana.

go on a brewery tour

They don’t call Milwaukee “Brew City” for nothing. It truly is a city built by beer. Find a favourite brewery and take an individual tour, or get daring and hon on a beer tour bus for a more guided experience. Lakefront Brewery was a winner in our opinion, but there are plenty to choose from.

get inspired at Milwaukee Art Museum

Admission is a bit steep for adults (USD $22), but it’s worth it if you have any sort of respect or admiration for art. The 341,000-square-foot museum houses over 30,000 works of art, including works created by Pablo Picasso.

visit the Bittercube Bar and Bazaar

Thirsty? Rejoice at Bittercube Bar and Bazaar, where you can sip spirits, lap up liquors, and try tasty cocktails. You can even craft your own signature drink! This is a truly unique Milwaukee experience for those who love dabbling in the art of alcohol.

visit Pabst Mansion

The Pabst Mansion is an architectural and historical jewel of the city. You can tour the mansion and check out all sorts of antiques and artifacts. Self-guided and classic led tours are all on offer, but it’s the Sunday Mimosa Tours that had us excited.

unwind at the beach

I had no idea that Milwaukee had beaches, but apparently, city locals head to the likes of Atwater and Doctors Park with picnics on warm weather days. I was told on good authority that people surf the waters at Milwaukee’s beaches too but didn’t go at the right time of year to try it.

visit the Harley-Davidson Museum

Harley-Davidson was proudly founded in Milwaukee in 1903. Interested in the history of the famed motorcycle brand? Book in a behind-the-scenes tour of the museum and discover the intricate mechanics that make this machine move.

explore the art in Blackcat Alley

If you tend to seek out street art, then Blackcat Alley is the place to head. There’s no shortage of photo opportunities down the vibrant alleyway, painted from end to end with murals.

tour the city by Kayak

There really is no better way to see the city of Milwaukee than by kayaking. Seeing everything from the water offers a fresh perspective for visitors and is a lot of fun (not to mention a great arm workout). I highly recommend the half-day tour, especially if the weather is good when you are visiting.

see the city by bicycle

Another unique way to see the city is by bicycle. Milwaukee By Bike offers 2-hour guided bicycle tours of the city, leading you past some of Milwaukee’s most notable landmarks. There’s also a brewery bike tour available for beer lovers!