Top picks for Milwaukee Day tours
Discover 17 Day tours in Milwaukee on Trip.com, updated January 1, 2026, with experiences lasting from 1 to 9 hours. Find the perfect adventure for your day!
From AUD 7.50 per person, with an average total of AUD 103.26. Choose the option that suits your plan.
With 6.149k verified reviews, Day tours Milwaukee boast an average rating of 4.8.
This week's most popular Day tours: "Chicago Favorites Ultimate Food and Walking Tour ", with 1.936k reviews and a 4.9 rating.
Now on Trip.com: "Chicago round-trip Milwaukee day tour", a 7-hour adventure in Milwaukee!
The next available day tour departs on January 2, 2026. Book now to secure your spot!
Milwaukee Day tours usually take about 7 hours — perfect for a relaxed, immersive experience!
100% of Milwaukee Day tours now offer English-speaking guides
January is the perfect time to visit Milwaukee! Choose from Day tours available day tours, including seasonal favorites like Chicago Favorites Ultimate Food and Walking Tour .
Your trip, worry-free! All day tours are run by licensed suppliers with verified reviews, and many include free cancellation before departure.
17 results for Milwaukee Day tours
Explore Midtown landmarks including Rockefeller Center and Times SquareDuration: 1 dayEnglishFree cancellation5.0/5Excellent· 1 review5% offLimited-time saleFromAU$248.62AU$261.71
One of America's largest art museums, the Milwaukee Art Museum features pristine white architecture with a distinctive design, its roof resembling a bird's wings stretching toward the sky.Duration: 7.6 hrsEnglishFree cancellationFromAU$178.24
Immerse yourself in the world of motorcycles at the Harley-Davidson MuseumDuration: 8 hrsEnglishFree cancellationFromAU$187.40
Stroll through the charming old towns of Iowa and admire the enchanting riverfront scenery.Duration: 9 hrsEnglishFree cancellationFromAU$154.92
35 consecutive positive reviewsDuration: 3 hrsEnglishFree cancellation4.9/5Excellent· 1.9k reviewsFromAU$127.42
Duration: 2 hrsEnglishFree cancellationBook now for todayFromAU$73.34
26 consecutive positive reviewsDuration: 1–3 hrsEnglishFree cancellation4.9/5Excellent· 26 reviewsFromAU$7.50
Duration: 1 hrEnglishFree cancellationBook now for today4.1/5Good· 63 reviewsFromAU$47.98
93.5% of travelers recommendDuration: 210 minsEnglishFree cancellationBook now for today4.7/5Great· 77 reviewsFromAU$146.93
FromAU$111.90
Welcome to Lake Geneva to admire the historic buildings nestled among the lush green trees on both shores and the crystal-clear, enchanting lake views!Duration: 8.5 hrsEnglishFree cancellationFromAU$154.92
23 consecutive positive reviewsDuration: 2 hrsEnglishFree cancellation5.0/5Excellent· 23 reviewsFromAU$67.30
Duration: 150 minsEnglishFree cancellationFromAU$82.53
FromAU$133.22
FromAU$60.76
Duration: 1 hrEnglish5.0/5Excellent· 1 reviewFromAU$76.26
99.4% of travelers recommendDuration: 2 hrsEnglishFree cancellation4.9/5Excellent· 1.5k reviewsFromAU$52.48
22 consecutive positive reviewsDuration: 2 hrsEnglishFree cancellation4.9/5Excellent· 890 reviewsFromAU$112.44
Create memories at 3 amazing photo stops, including one of the Chicago skylineDuration: 2–4 hrsEnglishFree cancellation4.9/5Excellent· 11 reviews5% offLimited-time saleFromAU$69.54AU$73.21
Behold the beautiful architecture of the Museum CampusDuration: 3 hrsEnglishFree cancellation4.9/5Excellent· 9 reviews5% offLimited-time saleFromAU$83.81AU$88.23
Explore unknown beautiful spaces that even locals walk by every dayDuration: 2 hrsEnglishFree cancellation5.0/5Excellent· 8 reviews5% offLimited-time saleFromAU$49.73AU$52.35
EnglishFree cancellationFromAU$109.25
Admire Art Deco, Beaux-Arts, and neoclassical architecture.Duration: 2–3 hrsEnglishFree cancellation5.0/5Excellent· 2 reviews5% offLimited-time saleFromAU$55.42AU$58.34
Enjoy a peaceful escape from the city's hustleDuration: 2 hrsEnglishFree cancellation5% offLimited-time saleFromAU$74.60AU$78.53
28 consecutive positive reviewsDuration: 30 minsEnglishFree cancellationBook now for today4.8/5Great· 92 reviews5% offLimited-time saleFromAU$54.01AU$56.86
91% of travelers recommendDuration: 90 minsEnglishFree cancellation4.6/5Excellent· 1k reviewsFromAU$67.47
26 consecutive positive reviewsDuration: 90 minsEnglishFree cancellation4.6/5Excellent· 433 reviewsFromAU$67.47
91.2% of travelers recommendEnglishFree cancellationBook now for today4.6/5Excellent· 91 reviews5% offLimited-time saleFromAU$63.93AU$67.3
Discover the maritime history of Sheboygan on a guided Segway tourDuration: 2 hrsEnglishFree cancellation5.0/5Excellent· 1 review5% offLimited-time saleFromAU$143.45AU$151
Enjoy a comprehensive training session to ensure a safe and fun experienceDuration: 2 hrsEnglishFree cancellation5% offLimited-time saleFromAU$143.45AU$151
FromAU$215.87
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