Milwaukee’s most worthwhile tours get right to the point, offering efficient ways to experience this fascinating Midwestern city. The standout choice is the Discover Iconic Milwaukee Tour, which smartly uses quiet electric vehicles to navigate downtown streets and historic neighborhoods. For time-conscious travelers, the Milwaukee Sightseeing Bus Tour hits all the main attractions in one go.

Food lovers will appreciate two distinctly different culinary walks: the Local Food Tour covers the city’s best traditional eateries, while the Family Fun Food Tour keeps things casual and kid-friendly. History buffs – especially after dark – shouldn’t miss the spirited Ghosts of Milwaukee & Haunted Third Ward Tour.

Let’s explore these top Milwaukee tours in detail.

Key Points

  • Discover Milwaukee’s iconic landmarks, history, and architecture through personalized tours utilizing electric vehicles and featuring knowledgeable guides.
  • Explore Milwaukee’s unique themes, including ghost stories, serial killer histories, and holiday light displays, with specialized small-group tours.
  • Indulge in Milwaukee’s vibrant food and brewery scene through guided tours showcasing local hidden gems, signature dishes, and craft beer tastings.
  • Accessibility and fitness levels are considered, with some tours not suitable for wheelchair users or individuals with limited mobility.
  • Cancellation policies vary, with free cancellation options and non-refundable policies, depending on the tour provider.

Discover Iconic Milwaukee Tour

Discover Iconic Milwaukee Tour

Although Milwaukee is known for its breweries and the Harley-Davidson Museum, the Discover Iconic Milwaukee Tour offers visitors a chance to explore the city’s diverse cultural attractions and hidden gems.

Boasting 244 reviews with a 97% recommendation rate, this small-group experience takes travelers on a journey through Milwaukee’s most iconic and unique spots using an open-air, five-seater electric vehicle.

With tour lengths catering to various schedules and a maximum of 15 travelers per tour, guests can enjoy a personalized and intimate exploration of the city. Knowledgeable and friendly guides share Milwaukee’s rich history and local insights, providing unique perspectives on the city’s highlights, architecture, and parks.

The electric vehicle enhances comfort and reduces noise, making it an ideal choice for first-time visitors and those with limited time. Positive reviews highlight the tour’s coverage of extensive ground in a short time, as well as the engaging narratives and the opportunity to discover Milwaukee’s neighborhoods, parks, and cultural sites.

Read our full review: Discover Iconic Milwaukee Tour Review
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Milwaukee: Sightseeing Bus Tour

Milwaukee: Sightseeing Bus Tour

The Milwaukee Sightseeing Bus Tour offers a comprehensive and engaging way for visitors to experience the city’s highlights. Priced from $40 per person, the 2-hour tour takes guests on a journey through downtown Milwaukee, providing insights into the city’s history from Native Americans to French fur traders. The tour is capped at 14 guests, ensuring an intimate and personalized experience.

Highlights of the tour include exploring iconic landmarks like City Hall, the Pabst Theatre, and the riverfront, as well as stops at Black Cat Alley, the North Point Lighthouse, and the Milwaukee Art Museum. Along the way, travelers can admire the city’s street art, architecture, and natural beauty.

With a team of knowledgeable guides, the tour blends walking and driving segments, giving guests a well-rounded overview of Milwaukee. Travelers highly recommend the sightseeing tour, praising the transportation, value for money, and the unique insights provided.

With hotel pickup and drop-off, and gratuities included, the Milwaukee Sightseeing Bus Tour is a convenient and comprehensive way to discover the city.

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Milwaukee Tour

Milwaukee Tour

A popular option for visitors to Milwaukee is the Milwaukee Tour, which boasts an impressive 672 reviews and a 99% traveler recommendation. Known for the city’s beer, brats, baseball, and lakefront scenery, the tour includes stops at Milwaukee City Hall, the Milwaukee Art Museum, and historic homes.

With a small group size of up to 14 travelers, the tour ensures a personalized experience. Priced from $40 per person, the non-refundable tour starts and ends at the iconic Milwaukee City Hall Clock Tower. Though not wheelchair accessible, the tour is stroller-friendly and operates in all weather conditions.

Travelers praise the engaging and knowledgeable guides, who provide an informative and fun overview of the city. Highlights include unique sights like the Secret Spy Lounge and scenic views of Lake Michigan.

Whether you’re a first-time visitor or looking to explore Milwaukee further, the Milwaukee Tour offers an excellent way to experience the city’s top attractions.

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Milwaukee: Local Food Tour

Milwaukee: Local Food Tour

For those seeking a deeper immersion into Milwaukee’s vibrant culinary scene, the Secret Walking Food Tour Milwaukee offers an exceptional experience. Lasting 3 hours and priced at $96.16 per person, this tour showcases the city’s diverse food culture and historic areas. Guests will explore local hidden gems, sample signature dishes, and learn about Milwaukee’s history through its flavorful offerings.

The tour kicks off at Usingers Famous Sausage, where participants can indulge in over 40 varieties of gourmet sausage and Wisconsin-made cheese.

Other highlights include a visit to Milwaukee’s original German beer hall for imported beer and wursts, a secret spot for fried cheese curds, and a final stop for Wisconsin’s flavor of the day custard.

Led by a knowledgeable guide, the tour provides a comprehensive and immersive look into the city’s culinary roots.

With free cancellation and the option to reserve now and pay later, this experience is a must-try for foodies visiting Milwaukee.

Read our full review: Milwaukee: Local Food Tour Review
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Milwaukee Walking Food Tour With Secret Food Tours

Milwaukee Walking Food Tour With Secret Food Tours

Enjoy Milwaukee’s vibrant culinary scene with the Secret Food Tours’ Milwaukee Walking Food Tour. This 94% traveler-recommended experience showcases the city’s historic Third Ward and East Town Downtown neighborhoods, guiding you through a mouthwatering exploration of regional specialties.

You’ll sample a hometown sausage with a 19th-century recipe, savor crispy fried cheese curds with dipping sauces, and indulge in a classic local fish fry. Top it off with a sweet treat and a “secret dish” that’s sure to delight. With enough samples to make a full meal, this tour provides an immersive taste of Milwaukee’s rich food culture.

Praised for their friendliness and knowledge, the guides offer captivating storytelling and local insights that bring the city’s history to life.

While the itinerary and menu may vary, you’re guaranteed a communal and memorable experience, whether you join a small group or opt for a private tour.

Don’t miss this opportunity to discover the flavors that make Milwaukee a Midwest culinary destination.

Read our full review: Milwaukee Walking Food Tour With Secret Food Tours Review
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Sightseeing in Milwaukee – Walking Tour

Sightseeing in Milwaukee – Walking Tour

Whether you’re interested in sightseeing, history, or something more unique, Milwaukee has a walking tour to suit your interests and budget.

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Shakers Ghost Tour 2.0

Shakers Ghost Tour 2.0

What better way to explore Milwaukee’s spooky past than the Shakers Ghost Tour 2.0? This small-group tour at Shakers Cigar Bar promises a chilling experience, featuring stories from the bar’s history, including speakeasies and cemeteries.

Participants use divination rods and receive a complimentary cocktail, adding to the unique nature of the tour. Starting at 10 PM, the tour lasts until the meeting point, with a maximum group size of 15 travelers.

While not wheelchair accessible, it’s conveniently located near public transportation. The tour includes divination rods, alcoholic beverages, and discounts on drinks and merchandise. Guests have praised the knowledgeable and engaging tour guides, with highlights like learning about the bar’s history and using spirit rods.

However, some visitors have reported unsatisfactory experiences with certain guides, which the host has acknowledged and addressed through ongoing training.

Shakers Cigar Bar is recognized as one of the most haunted bars in the nation, making this tour a must-try for anyone interested in Milwaukee’s ghostly past.

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Milwaukee Marvels: A 2-Hour Private Tour

Milwaukee Marvels: A 2-Hour Private Tour

This private 2-hour tour offers travelers an intimate and comprehensive exploration of Milwaukee’s most captivating sights.

Priced at Kč 11,346 for a group of up to 5 participants, the “Milwaukee Marvels” tour provides a personalized experience with pickup included in the Milwaukee area.

Guests will visit iconic landmarks such as the Lakefront Brewery, Black Cat Alley, Villa Terrace Decorative Arts Museum, and the Milwaukee Art Museum.

The tour also includes a stop at the Milwaukee Public Market, where visitors can indulge in culinary delights.

With comfortable transportation and insights from a professional local guide, this tour promises an immersive journey through Milwaukee’s vibrant culture, art, and history.

Rated 5/5 based on a single review, the “Milwaukee Marvels” tour caters to a variety of traveler types, including couples, groups of friends, solo travelers, and families.

Read our full review: Milwaukee Marvels: A 2-Hour Private Tour Review
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Cream City Cannibal: Jeffery Dahmer Walking Tour

Cream City Cannibal: Jeffery Dahmer Walking Tour

The “Cream City Cannibal: Jeffery Dahmer Walking Tour” provides an immersive exploration into the notorious life and crimes of one of America’s most infamous serial killers.

Located in Milwaukee, this 90-minute tour guides participants through the key locations significant to Dahmer’s disturbing story.

Led by knowledgeable and engaging guides, the tour covers Dahmer’s childhood, his victims, and the tour’s impact on the city.

With a maximum of 15 travelers, the tour offers an intimate experience, wheelchair and stroller accessible, and near public transportation.

Participants can enjoy drink and merchandise discounts and food and beverages at the meeting point, Shakers Cigar Bar, before or after the tour.

While some reviewers felt the tour lacked depth, many praised the guides’ storytelling abilities and the tour’s informative nature, appealing to true crime enthusiasts.

Read our full review: Cream City Cannibal: Jeffery Dahmer Walking Tour Review
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Milwaukee Magic: A Private Christmas Lights Tour

Milwaukee Magic: A Private Christmas Lights Tour

Offering a festive alternative to the chilling Cream City Cannibal tour, the “Milwaukee Magic: A Private Christmas Lights Tour” invites visitors to enjoy the city’s dazzling holiday displays.

This 2-hour private tour allows guests to explore the most enchanting neighborhoods decked out in twinkling lights, inflatable snowmen, and elaborate decorations.

Led by a knowledgeable guide, the tour takes guests on a magical journey through the winter wonderland of Milwaukee, sharing the stories behind the city’s beloved traditions and hidden gems.

With pickup and drop-off service available, this tour provides a seamless and personalized experience, ensuring visitors make the most of their holiday celebrations in the Cream City.

Whether seeking a romantic date night or a festive family outing, the “Milwaukee Magic: A Private Christmas Lights Tour” offers a unique and unforgettable way to experience the joy and wonder of the holiday season in Milwaukee.

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Sip of Milwaukee Guided Brewery Tour With Snack

Sip of Milwaukee Guided Brewery Tour With Snack

Although Milwaukee is renowned for its vibrant brewery scene, navigating the city’s countless options can be daunting for visitors. The “Sip of Milwaukee Guided Brewery Tour with Snack” offers a convenient and guided solution.

At $99 per person, this evening tour takes participants to multiple breweries, where they can sample up to 12 craft beers. Along the way, travelers enjoy a large pretzel with beer cheese and mustard. With a maximum of 14 participants, the tour provides a personalized experience.

The tour starts and ends at the Brewhouse Inn & Suites, with street parking or a nearby garage available. While the tour isn’t wheelchair accessible, it’s open to service animals.

Travelers praise the knowledgeable guides, particularly highlighting the expertise of Ken, who enhances the overall experience. However, some have reported issues with tour availability and the absence of a guide.

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Family Fun Food Tour

Family Fun Food Tour

For travelers seeking a delightful way to experience Milwaukee’s diverse culinary scene, the Family Fun Food Tour provides an engaging and family-friendly exploration.

This 2-mile walking tour takes guests on a journey through several notable stops, including the Hill Valley Cheese Shop, Simple Bakery, and Gino’s East, where they’ll savor a variety of local delicacies.

Lasting approximately 2 hours, the tour features an expert guide, Joe, who offers historical context and insights into the city’s food culture.

Highlights include sampling cheeses, pretzel bites, a breakfast sandwich, salad, deep-dish pizza, and churros, all paired with coffee, tea, and ice-cold water.

The tour is wheelchair accessible and welcomes service animals, making it accessible to most travelers.

With an average rating of 4.4 from 12 reviews, the Family Fun Food Tour has earned a reputation for its engaging atmosphere and exceptional guest experiences.

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Sheboygan Arts & Water Segway Tour W/ Private Tour Option

Sheboygan Arts & Water Segway Tour W/ Private Tour Option

The Sheboygan Arts & Water Segway Tour takes visitors on an exhilarating exploration of Sheboygan’s vibrant arts scene and picturesque waterfront. Highlights include the Sheboygan River, Lake Michigan shoreline, a historic lighthouse, shipwreck sites, schooner remains, and the renowned John Michael Kohler Arts Center.

Travelers can opt for a private tour for a more personalized experience. The tour is priced from $99 per person and offers scheduling flexibility with two time slots. Groups are kept small, with a maximum of 9 travelers, ensuring ample attention from the knowledgeable guide.

All necessary equipment and instruction are provided, though the tour isn’t recommended for pregnant travelers or those with limited mobility.

With an overall rating of 4.7 out of 7 reviews, the Sheboygan Arts & Water Segway Tour receives praise for its friendly and informative guides, who are noted by name in the feedback.

While some challenges due to weather have been mentioned, the overall experiences remain enjoyable for participants.

Read our full review: Sheboygan Arts & Water Segway Tour W/ Private Tour Option Review
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Original Milwaukee Guided Brewery Tour With Lunch or Dinner

Original Milwaukee Guided Brewery Tour With Lunch or Dinner

Visitors looking to experience Milwaukee’s rich brewing heritage will find the Original Milwaukee Guided Brewery Tour with Lunch or Dinner an engaging and informative outing.

This highly-rated tour, recommended by 93% of travelers, offers a comprehensive exploration of the city’s brewing scene. Participants can sample up to 16 craft beers while enjoying a meal paired with the beverages.

The tour, limited to a maximum of 14 travelers, is led by knowledgeable guide Ken, who provides insightful commentary on Milwaukee’s brewing history and the production process.

With a convenient meeting point at The Brewhouse Inn & Suites, the tour includes transportation, gratuities, and ample time for exploring.

Travelers have praised the tour’s organization, food quality, and overall experience, with one noting it was “one of the best experiences in Milwaukee.”

Whether seeking an immersive beer-tasting adventure or a deeper appreciation for the city’s brewing traditions, this tour delivers an enjoyable and memorable outing.

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Shakers Original Historical Ghost Tour

Shakers Original Historical Ghost Tour

Adventurous travelers seeking a thrilling paranormal experience will find the Shakers Original Historical Ghost Tour a captivating option in Milwaukee. Rated 4.7/5 stars based on 40 reviews, this tour takes guests through the eerie Shaker’s Cigar Bar, known as one of the most haunted bars in the nation.

Explorers can expect to engage with ghostly spirits and uncover the bar’s sordid past, including its cemetery and brothel history. Tour guides regale visitors with tales of the notorious Capone brothers and serial killer Jeffrey Dahmer.

While the experience includes alcoholic beverages, some guests have raised concerns about the cleanliness and safety of the hotel, particularly in the basement. Nevertheless, most travelers praise the knowledgeable and entertaining guides, as well as the engaging storytelling and fun group dynamics.

Photography is encouraged, though caution is advised. At $26.67 per person with a group size limited to 15, this tour offers a unique glimpse into Milwaukee’s haunted history.

Read our full review: Shakers Original Historical Ghost Tour Review
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Milwaukee Private or Public Pedal Tavern Tour

Why not explore Milwaukee’s vibrant bar scene on a two-hour Private or Public Pedal Tavern Tour?

For $35.99 per person, you’ll experience the city’s lively nightlife aboard a guided, pedal-powered party bike. The tour departs from the Cooperage Building/Boone and Crocket bar, with a maximum of 15 travelers per group.

BYO up to 3 canned alcoholic beverages, and enjoy drink specials at the bars along the way. Your local driver will lead the way, sharing insights about Milwaukee’s history and culture.

The tour ends back at the starting point, giving you the chance to continue your evening. Not suitable for those with heart problems or serious medical conditions, the Pedal Tavern Tour is a fun group activity for most travelers.

With 100% of past participants recommending the experience, this tour is a great way to discover Milwaukee’s lively bar scene.

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The Ghosts of Milwaukee & the Haunted Third Ward: Private Tour

The Ghosts of Milwaukee & the Haunted Third Ward: Private Tour

This private ghost-themed tour in Milwaukee invites participants to explore the city’s dark history. Guests will learn about devastating fires from 1892 and discover haunted locations, including the Pfister Hotel and apparitions in pub basements and bathroom mirrors.

Along the way, they’ll hear stories of gangs, ghosts, and encounters by pro-baseball players. Led by a friendly, professional guide, the tour provides a personalized experience with plenty of time for photos at favorite spots.

Starting at 7:30 PM from the Milwaukee Public Market, the tour ends near public transport and taxi links, with guide assistance for the onward journey. The experience includes hotel pickup/drop-off and free cancellation up to 24 hours before the tour, though food, drink, transportation, and gratuities are excluded.

While not wheelchair accessible, the tour requires only a moderate level of physical fitness. Priced from $130.00 per person, the private tour has received a 5.0 rating based on one review, which highlights the knowledgeable and fun guide despite the cold weather.

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Milwaukee Private Ghost Tour

Milwaukee Private Ghost Tour

What better way to experience Milwaukee’s haunted history than on the Milwaukee Private Ghost Tour? Priced from $90 per person, this private tour is ideal for groups who want an exclusive paranormal exploration.

The tour starts at 5:00 PM at Shakers Cigar Bar, where participants can enjoy alcoholic beverages and discounts on drinks and merchandise.

During the tour, ghost enthusiasts will visit Milwaukee’s most haunted locations, uncovering the city’s dark past. The tour isn’t wheelchair accessible, but most travelers can participate. Participants must be at least 18 years old to join the tour, which is operated by Shakers Cigar Bar.

The tour concludes back at the starting point, Shakers Cigar Bar. With confirmation received at booking and a non-refundable policy, the Milwaukee Private Ghost Tour promises an unforgettable and spooky experience for those seeking to explore Milwaukee’s paranormal side.

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Recap

Milwaukee offers a variety of engaging tours to suit different interests. Whether you’d like to explore the city’s iconic landmarks, indulge in local cuisine, or explore its haunted history, there’s a tour to match your preferences. With options ranging from sightseeing bus tours to walking food tours and ghost tours, visitors can discover the best of what Milwaukee has to offer.