Embark on an exciting day trip from Chicago to Milwaukee, Wisconsin’s largest industrial city, known for its rich history, vibrant culture, and world-famous breweries.

About this activity

Free cancellation: Cancel up to 24 hours in advance for a full refund
Reserve now & pay later: Keep your travel plans flexible — book your spot and pay nothing today.
Duration 1 day: Check availability to see starting times
Live tour guide: English

Highlighted reviews from other travelers

Liam – United States

This Milwaukee day trip from Chicago was such a refreshing and well-organized escape! The itinerary perfectly balanced culture, history, and local flavor. From diving into motorcycle heritage at the Harley-Davidson Museum to sampling brews at the Miller Brewery, each stop added something special. The Milwaukee Public Market was a foodie’s dream, and even the brief stop at the Milwaukee Art Museum offered beautiful lakefront views and striking architecture. I also want to take a moment to highlight out guide—professional, engaging, and incredibly knowledgeable. He kept the tour running smoothly, shared great insights throughout the day, and made sure everyone felt looked after. Whether you’re a history lover, beer enthusiast, or just curious about Milwaukee, this tour offers a fun and efficient way to explore the city. Highly recommend!

Ryan – United States

great tour. wish Miller brewery had more tour tickets as we couldn't tour the brewery..all else was great.

Itinerary

2 starting location options:
Millennium Park Welcome Center, 218 W Cermak Rd
Harley-Davidson Museum, Milwaukee
Visit (1.5 hours)
Optional, Extra fee
Milwaukee Public Market
Visit (1.5 hours)
Miller Brewing Company
Visit, Beer (1.5 hours)
Optional, Extra fee
Milwaukee Art Museum
Photo stop, Pass by (30 minutes)
2 drop-off locations:
218 W Cermak Rd, Millennium Park Welcome Center

Main stop

For reference only. Itineraries are subject to change.

Highlights

Immerse yourself in the world of motorcycles at the Harley-Davidson Museum
Learn about the history of brewing and enjoy samples of beer at Miller Brewery
Stop by the Milwaukee Art Museum,one of the largest art museums in the US
Explore the Milwaukee Public Market, home to 24 unique specialty food vendors
Return to Chicago with unforgettable memories.

Full description

Milwaukee 1-Day Tour from Chicago
Discover the legacy of Harley-Davidson, explore the bustling Milwaukee Public Market, tour a renowned brewery-Miller Brewery Tour and samples tasting, and admire the stunning architecture of the Milwaukee Art Museum before returning to Chicago.

Itinerary:
Chicago → Milwaukee → Harley-Davidson Museum (Optional, 90 mins) → Milwaukee Public Market (Lunch stop, 60 mins) → Miller Brewery Tour and Samples Tasting (Optional, 90 mins) → Lakefront & Milwaukee Art Museum (Stop by, 30 mins) → Chicago

Harley-Davidson Museum (Optional, 90 mins): Explore over 100 years of motorcycle history with 450+ rare bikes and artifacts.

Milwaukee Public Market (Lunch stop, 60 mins) : Stroll through a vibrant indoor market with specialty food vendors, fresh produce, and artisan crafts.

Miller Brewery Tour (Optional, 90 mins): Learn about 155 years of brewing tradition, tour the facility, and enjoy beer samples (21+).

Lakefront & Milwaukee Art Museum (Stop by, 30 mins): Admire the architectural beauty of this renowned museum from outside visit and enjoy the scenic lake views.

Special Itinerary during Maple Foliage Season
Milwaukee Fall Foliage Tour (only follow this itinerary from 10/04/2025 to 11/02/2025)
For a breathtaking autumn experience, choose our special maple-viewing route. Witness vibrant red, orange, and yellow hues across Wisconsin’s stunning landscapes while visiting serene parks, historic sites, and picturesque lakefronts.

Itinerary:
Chicago → Milwaukee → Back Bay Park (60 mins) → Holy Hill Basilica (60 mins) → Lake Geneva (90 mins, optional cruise) → Chicago

Back Bay Park (60 mins): A charming park with towering oak trees, playgrounds, and scenic lake views—perfect for a relaxing break.

Holy Hill Basilica (60 mins): Perched atop the highest point in Southeastern Wisconsin, this historic church offers panoramic views of colorful maple forests.
Climb the bell tower for a stunning overlook of the fall foliage.

Lake Geneva (90 mins): Stroll the scenic Shore Path for breathtaking views of historic estates, sailboats, and golden autumn reflections on the lake. Opt for a cruise to experience the beauty from the water.

Enjoy the magic of Milwaukee and its fall landscapes before heading back to Chicago!

Includes

Professional driver and guide (or driver-guide)
Professional vehicles transportation (Vehicle used based on the number of guests attending that day)

Meals, Food and beverage
Gratuities（$15-$20 Recommend）
Any personal expenses are not listed in Fee Included
Optional Attraction admission fee (Prices are subject to change without prior notice; Tickets should be purchased from the tour guide)
Harley Davidson Museum Adult: $25.00; Senior (65+)$21.00; Child (5-17)$11.00
Miller Brewery Adult(21+)$20.00; Child(3-20)$10.00(Excluding tips and taxes, children and adolescents aged 3-20 have no beer tasting experience)
Best of the Lake Cruise(Only for Maple Foliage Tour): Adult: $46.13; Senior (65+) $43.88; Child (4-17)$29.25

Meeting point

Meeting point may vary depending on the option booked.

Important information

Not allowed

Pets
Smoking

Know before you go

Customer under 18 years old MUST be accompanied by at least one adult. In consideration of the guest safety, pregnant women are only allowed to join the tour if pregnant for 24 weeks or less by the end of the trip.
Please be sure to provide accurate and complete information upon booking. This includes name, gender, valid contact information (preferably a mobile phone), accurate tour location, etc., This helps to avoid any errors upon the reservation because errors affect travel. Any losses due to inaccurate or invalid information will be at your own cost and the company will not be held responsible.
Any guests that have already purchased their own tickets or have a city PASS will not be able to use it on the tour. Please understand that you must purchase the admission tickets through our company in order to participate. For the optional admission tickets, you will reserve it from the tour guide directly. The tour guide will make this arrangement for you.

From $125 per person

to book your spot and pay nothing today

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