City Tours
Whether guided by knowledgeable locals or experienced through self-guided itineraries, these tours typically showcase Milwaukee's iconic attractions like the Milwaukee RiverWalk and the historic Third Ward district bustling with shops and restaurants. Visitors can expect to delve into Milwaukee's brewing heritage, discover its scenic lakefront and gain insights into its role as a hub of Midwest industry and innovation. With options ranging from walking tours to specialized themed excursions, city tours in Milwaukee promise an immersive experience that highlights the city's unique charm and character.
Discover City Tour Companies in Milwaukee
Download and Explore!
Looking for a free tour during your next visit? Then look no further than the Historic Milwaukee Mobile App Tours! All tours have a teaser so you can learn a little more about what you'll see. Each stop is geo-located with a map included and written directions to navigate around the neighborhoods easily. Some tours are available in English and Spanish. Tours were developed in collaboration with community members and organizations from the represented neighborhoods.
Get the same great history you enjoy from our docent-led walking tours but explore Milwaukee's history and architecture whenever you like. We're continually adding new content - download the app…
Find More Tours
Amazing Scavenger Hunt Adventure - Milwaukee
Turn Milwaukee into a giant game board with this fun scavenger hunt adventure. Combine the excitement of the Amazing Race with a three-hour event through the city. Guided from any smart…
AudaTours Milwaukee Audio Tour: Legends, Landmarks & Libations in Juneau Town
Beneath the copper domes and neon lights of Milwaukee lies a downtown where courtroom verdicts once shook headlines and cabaret secrets still swirl after midnight. This self-guided audio…
AudaTours Milwaukee Audio Tour: Tracks, Treasures & Tales of Downtown
A lion once prowled Milwaukee’s downtown-the city’s first escaped zoo animal, stirring panic just streets away from where legends now roar at the UW–Milwaukee Panther Arena. This…
Bike Tour
Hop on your pedal assist e-bike and explore everything that makes Milwaukee distinct. Ride through historic neighborhoods and miles of lakefront. Your guide will take you to the must see…
Distillery Tour
Great Lakes Distillery's tour has been voted Best Spirits/Wine Tour by OnMilwaukee and Shepherd Express readers many years in a row. During GLD's one hour tour, visitors will learn about…
Ghost Tour
Step into the shadows of Milwaukee’s haunted past with the Original Ghost Tour at Shakers Cigar Bar & Hangman Tours. Explore two centuries and three floors of history in one of…
Milwaukee Sightseeing and Architecture Cruise
Explore Milwaukee's past and present from our rivers, harbors & Lake Michigan during this 90-minute tour. Unforgettable views and a unique perspective of Milwaukee's history…
Riverwalk 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 by Mayor John…