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Top Milwaukee Tours & Sightseeing

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Milwaukee Tours

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Personal and Detailed Milwaukee Sightseeing Bus Tour

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! …More

Likely to Sell Out
Likely to Sell Out
5.0 (899)

Personal and Detailed Milwaukee Sightseeing Bus Tour

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!...

2 hours
5.0 (899)
from
$47
Discover Iconic Milwaukee Tour

Embark on an intimate high-end unforgettable journey through the heart of Milwaukee. Where history, culture & vibrant energy converge to create an experience like no …More

4.9 (333)

Discover Iconic Milwaukee Tour

Embark on an intimate high-end unforgettable journey through the heart of Milwaukee. Where history, culture & vibrant energy converge to create an experience like no...

100 to 120 minutes
4.9 (333)
from
$68
The Grand Walk: A Self-Guided Audio Tour through Milwaukee

________ PLEASE NOTE: This is a self-guided audio tour, not an entry ticket to the Milwaukee Art Museum. The tour ends in front of the …More

4.4 (38)

The Grand Walk: A Self-Guided Audio Tour through Milwaukee

________ PLEASE NOTE: This is a self-guided audio tour, not an entry ticket to the Milwaukee Art Museum. The tour ends in front of the...

75 to 150 minutes • Free Cancellation
4.4 (38)
from
$9
Milwaukee Food Tour with 5 Local Favorites Tastings & Secret Dish

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 …More

Likely to Sell Out
Likely to Sell Out
4.8 (246)

Milwaukee Food Tour with 5 Local Favorites Tastings & Secret Dish

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...

3 hours 30 minutes • Free Cancellation
4.8 (246)
from
$102
Sheboygan Arts & Lakefront Segway Tour

Discover the waterfront character of Sheboygan on a guided Segway tour focused on maritime history and shoreline scenery. After unhurried personal Segway training, glide at …More

4.7 (9)

Sheboygan Arts & Lakefront Segway Tour

Discover the waterfront character of Sheboygan on a guided Segway tour focused on maritime history and shoreline scenery. After unhurried personal Segway training, glide at...

90 to 120 minutes • Free Cancellation
4.7 (9)
from
$101
Lively Lake Geneva Scavenger Hunt

Our very unique, immersive adventures are the only ones of their kind. We, unlike other companies, provide your very own remote, interactive, live host to …More

4.3 (3)

Lively Lake Geneva Scavenger Hunt

Our very unique, immersive adventures are the only ones of their kind. We, unlike other companies, provide your very own remote, interactive, live host to...

2 hours • Free Cancellation
4.3 (3)
from
$23
Old Milwaukee 9am E-Bike Tour

Hop on your pedal assist e-bike and get a helpful push as you ride about 15 miles through the best of Milwaukee. See what makes …More

5.0 (82)

Old Milwaukee 9am E-Bike Tour

Hop on your pedal assist e-bike and get a helpful push as you ride about 15 miles through the best of Milwaukee. See what makes...

3 hours • Free Cancellation
5.0 (82)
from
$79
Old Milwaukee Lite 1:30pm E-Bike Tour

Half the history talk calories of the Old Milwaukee Tour but with all the full bodied flavor! Ride 15 miles on a pedal assist e-bike …More

5.0 (21)

Old Milwaukee Lite 1:30pm E-Bike Tour

Half the history talk calories of the Old Milwaukee Tour but with all the full bodied flavor! Ride 15 miles on a pedal assist e-bike...

3 hours • Free Cancellation
5.0 (21)
from
$79
Milwaukee Kayak Rental

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 …More

4.9 (32)

Milwaukee Kayak Rental

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...

1 to 4 hours • Free Cancellation
4.9 (32)
from
$55
Milwaukee Historic Downtown Self Guided Walking Tour

Milwaukee is a city shaped by its waterways, its waves of immigrants, and its bold spirit-famous for its German heritage, its brewing traditions, and its …More

4.4 (17)

Milwaukee Historic Downtown Self Guided Walking Tour

Milwaukee is a city shaped by its waterways, its waves of immigrants, and its bold spirit-famous for its German heritage, its brewing traditions, and its...

60 to 90 minutes • Free Cancellation
4.4 (17)
from
$10
Milwaukee's Riverwalk Walking Tour

Like many communities in the industrial Midwest, Milwaukee’s ecological legacy has a significant period of pollution. Thankfully, in the late 1980s & early 1990s, driven …More

Likely to Sell Out
Likely to Sell Out
5.0 (2)

Milwaukee's Riverwalk Walking Tour

Like many communities in the industrial Midwest, Milwaukee’s ecological legacy has a significant period of pollution. Thankfully, in the late 1980s & early 1990s, driven...

90 to 120 minutes • Free Cancellation
5.0 (2)
from
$16
Private Milwaukee Food Tour with Beer, Cheese & Local Classics

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 …More

Likely to Sell Out
Likely to Sell Out
5.0 (3)

Private Milwaukee Food Tour with Beer, Cheese & Local Classics

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...

3 hours 30 minutes
5.0 (3)
from
$142
Original Milwaukee Guided Brewery Tour with Lunch or Dinner

Guests will learn about Milwaukee’s thriving brewpub scene and visit four separate breweries, tasting up to 16 different beers on this guided brewery tour with …More

4.8 (17)

Original Milwaukee Guided Brewery Tour with Lunch or Dinner

Guests will learn about Milwaukee’s thriving brewpub scene and visit four separate breweries, tasting up to 16 different beers on this guided brewery tour with...

4 to 5 hours • Free Cancellation
4.8 (17)
from
$139
Sip of Milwaukee Guided Brewery Tour with Snack

Learn about Milwaukee’s thriving brewpub scene and taste up to 12 different beers on this guided brewery tour with a snack. See how beer is …More

4.6 (10)

Sip of Milwaukee Guided Brewery Tour with Snack

Learn about Milwaukee’s thriving brewpub scene and taste up to 12 different beers on this guided brewery tour with a snack. See how beer is...

3 hours • Free Cancellation
4.6 (10)
from
$109
Outdoor Escape Room in Milwaukee - RiverWalk

An immersive clue-solving adventure around RiverWalk Milwaukee. Search for real-world clues, solve puzzles, and discover the neighborhood with an experience you'll never forget! Reschedule anytime …More

4.8 (12)

Outdoor Escape Room in Milwaukee - RiverWalk

An immersive clue-solving adventure around RiverWalk Milwaukee. Search for real-world clues, solve puzzles, and discover the neighborhood with an experience you'll never forget! Reschedule anytime...

2 hours
4.8 (12)
from
$75
Historic Third Ward Walking Tour

The Historic Third Ward was the first stop for many of Milwaukee's European immigrants, particularly the Irish and later the Italians. Close to cheap housing …More

5.0 (2)

Historic Third Ward Walking Tour

The Historic Third Ward was the first stop for many of Milwaukee's European immigrants, particularly the Irish and later the Italians. Close to cheap housing...

90 to 120 minutes • Free Cancellation
5.0 (2)
from
$16
2-Hour Bus Tour in Milwaukee City

This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am. …More

5.0 (2)

2-Hour Bus Tour in Milwaukee City

This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am....

100 to 120 minutes
5.0 (2)
from
$40
Paddling at Dock at Discovery World

Forward Outdoor offers one of the most unique ways to experience Milwaukee. Located directly on the waterfront at Discovery World, our rental location provides immediate …More

5.0 (5)

Paddling at Dock at Discovery World

Forward Outdoor offers one of the most unique ways to experience Milwaukee. Located directly on the waterfront at Discovery World, our rental location provides immediate...

1 hour • Free Cancellation
5.0 (5)
from
$18
Professor T's Historic Tours: Explosive History of Bay View

Explore the Immigrant, Labor, and Civil Rights History of Bay View through a gentle walk in this charming neighborhood of Milwaukee. Emeritus History Professor Tim …More

5.0 (1)

Professor T's Historic Tours: Explosive History of Bay View

Explore the Immigrant, Labor, and Civil Rights History of Bay View through a gentle walk in this charming neighborhood of Milwaukee. Emeritus History Professor Tim...

4 to 5 hours • Free Cancellation
5.0 (1)
from
$189
Self-Guided Scavenger Hunt: Milwaukee A Splash of Color

Let’s Roam leads the way as the top app-led adventure hunt company! Wander to discover the city’s top landmarks and uncover hidden gems while tackling …More

4.1 (11)

Self-Guided Scavenger Hunt: Milwaukee A Splash of Color

Let’s Roam leads the way as the top app-led adventure hunt company! Wander to discover the city’s top landmarks and uncover hidden gems while tackling...

2 hours • Free Cancellation
4.1 (11)
from
$15

Frequently Asked Questions

These answers are based on answers previously given to Cool Destinations customers' questions.

Recent tour reviews
Thanks Mike
New York City
Personal and Detailed Milwaukee Sightseeing Bus Tour
Jeff_K, Sep 2026
Thanks Mike
Mike did a great job showing us around the highlights of Milwaukee. His sly sense of humor added to the experience. I recommend this tour.
Read more
Sights and History of Milwaukee
New York City
Old Milwaukee Lite 1:30pm E-Bike Tour
Freedom30089985023, Sep 2026
Sights and History of Milwaukee
My brother and I do a bike tour of a different city each year. Our tour of Milwaukee was with Jimmy at MKE Bike Tour. It was an incredible tour, and a deep dive into the history and culture of Milwaukee! Jimmy’s knowledge and communication skills are both remarkable . I learned so much and could NEVER see the city, even if I had bike to ride, like we did with Jimmy. He’s the best!!
Read more
Getting to know Milwaukee . .
New York City
Old Milwaukee 9am E-Bike Tour
Tim_H, Sep 2026
Getting to know Milwaukee . .
Our tour guide Jimmy was informative, funny and made the 3-hour tour very enjoyable. We got to see many off the beaten path places.
Read more
Great way to get to know...
New York City
Milwaukee Food Tour with 5 Local Favorites Tastings & Secret Dish
Wanda_P, Sep 2026
Great way to get to know...
Great way to get to know Milwaukee & sample some food. Our guide was fabulous! We enjoyed the others on our tour.
Read more
Milwaukee Masterpiece Tour!
New York City
Milwaukee Food Tour with 5 Local Favorites Tastings & Secret Dish
jdd943, Sep 2026
Milwaukee Masterpiece Tour!
Best Food Tour we have been on yet! Julia was so great, she communicated everything with such a great enthusiasm and genuine excitement about Milwaukee that it made our experience and general opinion of the city as positive as we could have imagined. Then the food, definitely make sure you come hungry because the stops and tastings don’t stop. Everything we had I would go back on my own again. Overall 10/10!
Read more
Great experience!
New York City
Discover Iconic Milwaukee Tour
822SharonH, Sep 2026
Great experience!
It was a great tour. Our guide was very knowledgeable about Milwaukee. We felt very comfortable. It was a very pleasant experience. I wold highly recommend.
Read more
Definitely felt personal and was pretty detailed
New York City
Personal and Detailed Milwaukee Sightseeing Bus Tour
efromflint73, Sep 2026
Definitely felt personal and was pretty detailed
We just wanted to say thanks Mike for taking us out on a wet and rainy Sunday! We had a blast! We just wish we had more time to spend there. In fact, his personal and detailed tour makes us want to come back! There a few more places we would like to visit a little more. New neighborhoods where the locals go. We found his prices are affordable and Mike is cool. He has love for the city and you can tell. - The Walton's. Go Lions! Mike is also a huge Packer fan. 🥲
Read more
Good Mix of Light Exercise, History & Humor
New York City
Old Milwaukee 9am E-Bike Tour
billhV8199TC, Sep 2026
Good Mix of Light Exercise, History & Humor
What a delightful trip. Just the right amount of history, much I'd not heard before, delivered by a knowledgeable, humble leader with a dry sense of humor. Still chuckling today. Well done Jamie!
Read more
Riveting Escape Room, but outside on Milwaukee RiverWalk
New York City
Outdoor Escape Room in Milwaukee – RiverWalk
lauralees56, Sep 2026
Riveting Escape Room, but outside on Milwaukee RiverWalk
My visiting cousin brought this as a fun, challenging, and shockingly intricate group activity! We toured the city finding clues. It was complex so you must approach with intelligence & persistence. It was beyond rewarding when we solved the puzzle! Loved it!
Read more
Had a great time and will be back for more tours in the future!
New York City
Discover Iconic Milwaukee Tour
dawnsT764NR, Sep 2026
Had a great time and will be back for more tours in the future!
We were looking for something to fill time while in Milwaukee for an overnight with a friend for the UK, we are from Upper Michigan. My UK friend is not very mobile and a larger man so this Iconic Milwaukee Tour seemed like a good fit. Boy was it ever!! We had such a good time and John our tour guide was awesome. He had so many interesting facts, jokes, and had the hindsight to put the doors on the cart before taking off. The other carts left without doors and we stayed dry during an afternoon shower. Get John if you can for a tour even one of the other guides told us he was very good.
Read more
A Milwaukee Must-Do!
New York City
Paddling at Dock at Discovery World
jessit616, Sep 2026
A Milwaukee Must-Do!
This was such an AMAZING! Experience! Super easy to book and Kurt was awesome at explaining everything for our first time to me easy, smooth and fun! Highly recommend!
Read more
Delicious tour of MKE!
New York City
Private Milwaukee Food Tour with Beer, Cheese & Local Classics
SweetTKuhl, Sep 2026
Delicious tour of MKE!
Great tour with lots of delicious food! Colin was very knowledgeable and personable. Kept it at a good pace. Highly recommend!
Read more
Nice tour.
New York City
Historic Third Ward Walking Tour
Kathleen_B, Sep 2026
Nice tour.
Heavy on the architecture of the district; interesting. The guide spoke of the history and development of the area.
Read more
Great Stories, Great Food, Great Milwaukee Experience!
New York City
Professor T’s Historic Tours: Explosive History of Bay View
msmkc, Sep 2026
Great Stories, Great Food, Great Milwaukee Experience!
Four members of our family took this tour—two in their 20s and two in their 60s—and all four of us rated it a 10 out of 10! Tim has a wonderful style of sharing a lot of fascinating information in a fun and engaging way. His stories really come to life because you’re hearing them right at the actual sites where the history happened. I had no idea that this Milwaukee neighborhood had such a rich history or that its impact reached far beyond the city limits. The tour itself is less than a mile, with several stops along the way, making it very manageable for everyone. Tim’s style is casual, and with our small group everyone felt comfortable to ask questions. And there was plenty of food and drink included in the price: snacks at Groppi Food Market, dinner at Three Brothers Restaurant, and after-dinner drinks at At Random. The Pink Squirrel was my favorite! Whether you’re a history buff or simply looking for a fun and unique way to experience Milwaukee, we highly recommend this tour. It was a highlight of our time in the city!
Read more
Delightful tour
New York City
Milwaukee’s Riverwalk Walking Tour
Gabriel_S, Aug 2026
Delightful tour
I wanted to share feedback regarding my recent tour. Cindy was amazing and took the time to explain every aspect of the walk-through in great detail. If you are in Milwaukee and planning to take this tour, I highly recommend asking for Cindy.
Read more
Great Kayaking Experience!
New York City
Milwaukee Kayak Rental
jennawK2690IW, Aug 2026
Great Kayaking Experience!
We had an absolute blast renting kayaks through Brew City Kayak Rental. There is a parking lot on site making parking easy. Staff was helpful, friendly, and relaxed. All material was clean and in good condition. They have a kayak launch making it easy to get in and out. We did not do one of the organized tours, but could not have been happier with our rental experience and would absolutely recommend to anyone looking to spend a day on the river.
Read more
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