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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

Bike Tour Jun 15

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 Jun 15

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 Jun 15

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…

Riverwalk Tour Jun 15

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…