25 Best Things to Do in Milwaukee (Perfect for First Timers!)

Planning a trip to Wisconsin? You may be surprised at all the great things to do in Milwaukee! (I was!)

Milwaukee is the perfect travel destination for a Midwest weekend getaway (or part of a Midwest road trip).

Whether you’re looking for great museums, fun festivals, tasty food — or some refreshing local brews! — Milwaukee has something for everyone!

We just visited last summer on a road trip to visit my folks in Wisconsin, so I know all about the top attractions in Milwaukee.

Lace up your shoes and let’s go!

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Best Things to do in Milwaukee Wisconsin

1. Stroll along the Downtown RiverWalk

The Milwaukee RiverWalk stretches more than three miles.  The most popular section is in downtown, along the Milwaukee River. 

Taking a stroll along the Downtown RiverWalk should definitely be at the top of your ‘to do’ list. It’s one of the best things to do in downtown Milwaukee!

The RiverWalk passes through Milwaukee’s Theater District and near historic Old World 3^rd Street.  Enjoy a meal at one of the many area restaurants.   Then take an after-dinner stroll and enjoy views of the river, art, and architecture.

Pere Marquette Park

Pere Marquette Park is a small urban park on the left bank of the Milwaukee River.   It is named for Father Jacques Marquette, one of the first French Missionaries in Wisconsin.

Pere Marquette Park features a lovely gazebo with a distinctive green dome.  On Wednesday nights in summer, you can enjoy concerts in the park.  Or in winter, see the Holiday Lights Festival decorations.

RiverWalk Art and the Bronz Fonz

You’ll find lots of interesting sculptures scattered throughout the RiverWalk, as well as art decorating the walls of the RiverWalk.

One of the most popular (and recognizable) works of art on the RiverWalk is the statue called the Bronz Fonz.  As you may recall, the classic TV series ‘Happy Days’ was set in Milwaukee.  Can’t you just hear the Fonz saying ‘ayyyy’?

He didn’t really want to, but I made Chris take his picture with the Fonz.  I was surprised to see how short the statue was.  Henry Winkler, who played the Fonz, is only 5’6” vs Chris clocking in at 5’10”.

2. Eat at Old World Third Street

Old World 3^rd Street (renamed to Dr. Martin Luther King Jr) is home to a three-block neighborhood chock-full of shops, bars, and restaurants.  This neighborhood was Milwaukee’s German retail district.

Milwaukee had a thriving German community, and much of the brewing know-how that made Milwaukee famous came from its German immigrants.  In fact, Milwaukee was known as the ‘German Athens of North America’ and is still home to the largest Germanfest in the US.

Walk along the streets and you may feel like you are in Europe, with all the old-World architecture and half-timbered buildings.  You’ll still find many of Milwaukee’s mainstays here like Usinger’s Famous Sausage factory (with over 70 varieties) and the Wisconsin Cheese Mart.

Visit Old World 3^rd Street to enjoy some of Milwaukee’s local specialties.  You’d be remiss not to sample a local brew.  Brats, giant soft pretzels, and fried cheese curds are a staple of menus in this neighborhood.  

(I was shocked to learn that my parents, who have spent decades in Wisconsin, have NEVER eaten fried cheese curds.  How is this even possible?)

Treat your taste buds to Milwaukee’s local favorites on this top rated Milwaukee Walking Food Tour! Sample fried cheese curds, local sausage, and more!

3. Visit the Historic Third Ward

Formerly a warehouse district, the Historic Third Ward is now a happening spot filled with art galleries, studios, boutiques, and restaurants.  It’s also on the National Register of Historic Places.  Each month there is a ‘gallery night’ to showcase the arts scene.

Catalano Square is a cute little pocket park with a lot of cool sculptures.  It sits at the southern end of Broadway, the Historic Third Ward’s ‘main street’.  Broadway is lined with shops and restaurants.  Bricked mini-plazas with trees, art, and seating occupy the median.

A walk through the Historic Third Ward will take you past some historic buildings. 

Don’t forget to check out the highway underpasses along Broadway – they’re painted with magnificent murals, hiding in plain sight!

Pop into the Milwaukee Public Market

Nearly every article about ‘things to do in Milwaukee’ will tell you that you absolutely must go to the Milwaukee Public Market.  So, we were excited to visit and check out this Milwaukee mainstay. 

We envisioned fantastic markets like those we love in Europe, with tons of fresh produce and cheeses and tasty prepared items.  You know, markets where the locals shop for their daily provisions.  Instead, we found a set of shops and vendors that were very much aimed at tourists, not the locals.    

Everything seemed rather overpriced to me, so we just took a quick lap of the market to check out the offerings.  You can buy things like wines, spices, ice cream, and baked goods, and there are also some restaurants.  If you choose to purchase ready-to-eat food, there is seating on the second level.

4. Visit the Milwaukee Art Museum 

The incredible collection of the Milwaukee Art Museum holds over 32,000 works of art spread across 40 galleries.   Featured works include Georgia O’Keeffe, European Baroque art, German artworks, and a collection of French prints.

The architecture of the Museum is as impressive as its art.  The Milwaukee Art Museum sits on the shore of Lake Michigan, and the front of the museum looks rather like the prow of a ship pointing towards the waters of the lake.

The real stunner?  The Burke Brise Soleil “wings”, which open daily with the opening of the museum, and close as the museum closes.  You can get an excellent view of the wings as you approach the Art Museum via the Reiman Pedestrian Bridge. 

The Reiman Pedestrian Bridge blends beautifully with the architecture of the museum and really seems to be an extension of the museum.  This makes sense since the same architect, Santiago Calatrava, designed both the bridge and the ‘wings.’

5. Take in a show at the Pabst Theater

Want to see a show?  You’ve come to the right place!  There are more than twenty-five theaters within Milwaukee’s city limits.  That’s a lot of cultural and entertainment options!

The Pabst Theater is right in downtown Milwaukee, just a block from the downtown RiverWalk. Built in 1895, the Pabst Theater is the fourth oldest continuously running theater in the US.

The Pabst Theater originally held performances in German to entertain Milwaukee’s large German-speaking populace.  Today, the theater hosts around 100 events a year ranging from concerts to operatic performances, to comedy shows.

Another notable Milwaukee performing arts venue is the Broadway Theatre Center, which features an incredible replica of a European opera house.

6. Listen to live music at Summerfest

I’d be remiss to talk about live entertainment in Milwaukee without mentioning Summerfest.  Summerfest is an enormous music festival – the largest music festival in the world!  And it’s held annually in downtown Milwaukee.

Summerfest is held in Milwaukee’s Henry Maier Festival Park, across eleven stages.  Performances run over the course of three weekends (the end of June through the beginning of July).  We were actually in Milwaukee the week before Summerfest – which explains why the city was so busy!

In 2022, 445,000 people attended this festival.  That’s a lot of festivalgoers, but it’s actually only half of the attendance levels pre-pandemic.

An astounding 800 bands perform during this festival.  Just a smattering of performers from 2022 included: Rod Stewart, Avril Lavigne, Lil Wayne, the Backstreet Boys, The Commodores, and Jason Aldean.  And dozens of bands that I’ve never heard of!  There is definitely something for everyone to enjoy at Summerfest!

Attending a festival is one of the best activities in Milwaukee!

7. Enjoy nature at the Mitchell Park Domes

The Mitchell Park Horticultural Conservatory is an eye-catching botanical garden in Milwaukee’s oldest park.

The three domes look like something you’d see in a sci-fi movie for human habitation on another planet.  Each of the Mitchell Park Domes showcases different flora.

The desert dome contains plants from the desert regions of the American Southwest.   It also contains flora from the deserts of Africa, South America, and Madagascar.  In the Oasis you’ll find a pond with papyrus plants, used to make paper by ancient Egyptians.

The tropical dome contains over 12,000 species of flora native to the Earth’s rainforests and jungles.  Many varieties of fruit trees are native to the rainforests. 

They’re also the source of essential (in my opinion) foods such as cacao (chocolate!) and coffee, as well as spices like vanilla and pepper.  If you pay attention, you’ll also notice tropical birds, koi, and frogs inhabiting this jungle dome.

The third dome is the ‘dress to impress’ dome.  The floral show dome hosts fantastic floral displays that are changed five times each year with unique immersive themes.

8. Root for the home team at a ball game

Several major league teams call Milwaukee home, not to mention college athletics.  Why not go to a ball game during your visit? You’ve got a lot of options.

NBA fans can watch the Milwaukee Bucks play at the Fiserv Forum.  If hockey’s your game, Milwaukee Admirals have got you covered.  This American Hockey League team plays at the UW-Milwaukee Panther Arena.    Note the Milwaukee Wave of the Major Arena Soccer League also plays at the Panther Arena.

Both the Fiserv Forum and the Panther Arena are located in downtown Milwaukee.  They’re just two blocks west of the Riverwalk and just a hop from Old World 3^rd street.  This makes for an easy evening plan – dinner and a game!

If you prefer America’s favorite pastime, catch the Milwaukee Brewers playing at the American Family Field.  American Family Field is just 3 miles west of downtown Milwaukee.

9. Explore Discovery World

If you’re in the mood for more museums, how about a visit to Discovery World?  This lakefront science museum aims to inspire the next generation into pursuing STEM (Science, Technology, Engineering, and Math). 

A visit to Discovery World is one of the fun things to do in Milwaukee, especially for families with children.  Be sure to explore all of the exhibits, and don’t forget to check out the Reiman Aquarium.  (If you have younger children, be sure to check out the Betty Brinn Children’s Museum too.)

We were surprised to see a schooner berthed outside the museum.  Step aboard the ‘Challenge’, a replica of a 19^th century Great Lakes Schooner.   You’ll see what life would have been like aboard such a sailing vessel and learn about the science of sailing.

10. Rev up at the Harley-Davidson Museum

Did you know that the Harley-Davidson Motor Company was founded in Milwaukee?  In honor of this, Milwaukee is the only city in the world that can lay claim to having a Harley Davidson Museum.

If you’re a fan of these motorcycles, you’ll want to be sure to pay a visit to the Harley-Davidson Museum.  You’ll see an incredible collection of motorcycles and memorabilia, including cultural icons such as the Elvis Bike and the Rhinestone Harley.

Take a walking tour of the 20-acre campus to see the ‘Hill Climber’ Statue and the Rivet Wall.  Take a moment to read some of the messages inscribed in the stainless-steel rivets.

Visiting this museum is one of the most unique things to do in Milwaukee Wisconsin!

11. Walk along the Kinnickinnic riverfront

We already talked about the Downtown RiverWalk and all the great art it showcases.  But don’t miss out on Milwaukee’s second riverfront. It’s in the Historic Third Ward area, on the north side of the Kinnickinnic River, which feeds into Lake Michigan.  

I suppose it’s really all just one giant stretch of riverfront walkways, but they have very distinct vibes.

Starting at the eastern (Lake Michigan) edge, the Milwaukee Pierhead Lighthouse guards the mouth of the Kinnickinnic River.  This lighthouse stands at the end of the pier and has been operational since 1872.  If you look closely, you can see the Milwaukee Breakwater Light in the distance.

A little bit of history at your feet..

As we were walking westward along the riverfront, we noticed words carved into the wooden planks of the boardwalk.  A closer look revealed that each board represented a month within a year, and significant historical events for that month were inscribed in the plank. 

We followed the boardwalk, heads down, pointing out events that were of interest.    The dates went back over a hundred years, to before the founding of Milwaukee!  This is a fun little hidden gem. Certainly, thousands of people walk through here and never even notice.

Here are a couple of the more interesting (and legible) sections of the boardwalk.  In 1876 you have Rodin sculpting ‘The Age of Bronze’ and the establishment of the Dewey Decimal system. 

In 1964, you can find some Beatles-based records, the introduction of the Ford Mustang, and the invention of the computer language BASIC.  A little something for everyone!

The Allen-Bradley Clock Tower

From the riverwalk you can spy in the distance the Allen-Bradley Clock Tower.   This clock tower stands 283 feet tall and is the second-largest four-faced clock tower in the world.  (Bigger than Big Ben!) 

It held the number one position for nearly fifty years but has lost its title to the Mecca Royal Clock Hotel Tower.  The Allen-Bradley building also has a second, smaller tower, which provides the temperature.

12. Visit the Grohman Museum

The Grohman Museum is a unique art museum focused on the evolution of human work (i.e. labor).  With over 1400 paintings and sculptures in its collection, the Grohman is the most comprehensive art museum of its kind.

As you enter the building you’ll step across a lovely mosaic.  The central title pentagon “Man at Work” is surrounded by mosaics of men and women at various tasks such as farming, spinning, and blacksmithing.   

From the street, you can see massive sculptures ringing the edge of the museum’s roof.  These bronze sculptures are over a thousand pounds each and look out over the city. Visit the museum’s rooftop sculpture garden to get a closer look at these statues and many others.

13. Hunt for historical markers

Keep your eyes open, and you’ll be sure to run across some historical markers while you’re exploring Milwaukee.  These Wisconsin official markers indicate sites and events of historical significance. 

Some markers are a bit quirky, like the site of Wisconsin’s oldest newspaper, or the invention of the typewriter.   Other markers recall more somber events in Milwaukee’s history, such as the Third Ward Fire in 1892.

During our criss-crossing of the city, we ran across many of these markers.  For example: the Pabst Theater, the North Point Light Station, the Old North Point Water Tower, and this one commemorating the Civil War Camp.

14. Enjoy the public art

Milwaukee abounds with public art.  We’ve already talked about the art showcased along the Downtown RiverWalk.  But there is public art just about everywhere you look in Milwaukee. 

You’ll find this piece of art near the Reiman Pedestrian Bridge as you’re heading to the Milwaukee Art Museum.  ‘The Calling’, by Mark di Suvero, is part of the museum’s permanent collection.  You can’t miss it, since it is 40 feet tall — not to mention, bright orange!

The Ladybug Building

There are grand sculptures decorating the grounds of many of Milwaukee’s buildings.  But my favorite has to be this building which is a piece of art – the Ladybug Building.

How cute is that?  Although Chris noted that you might not be a fan if your office had a giant ladybug scuttling across your window.  Surprisingly, they’re as big as a VW Beetle!

Sculpture Milwaukee

You’ll see mention of ‘Sculpture Milwaukee’ on the maps.  This isn’t one location of assembled pieces (which is what we had been expecting).   

This urban art installation encompasses sculptures and murals scattered across two miles throughout Downtown Milwaukee and the Historic Third Ward.  You’ll find many along Wisconsin Avenue. 

You’ll also see informal sculptures dotting Milwaukee’s streets – there were a couple installations that looked like Igloo coolers connected with bungee cords. 

If you’re a fan of sculpture, take a 15-minute drive north and visit the Lynden Sculpture Garden.  This 40-acre park features dozens of sculptures set among the park’s gardens and ponds.

15. Marvel at the murals in Black Cat Alley

We found many murals decorating the walls of buildings both large and small throughout Milwaukee.  Black Cat Alley is an artistic destination in itself.  This outdoor art gallery showcases different styles of mural art from two dozen artists.   

With my purple and black ensemble, I fit right in with the namesake “Black Cat Alley” mural! (Actually, when Chris was scrolling through this article, he didn’t even notice me!)

The murals of Black Cat Alley are fantastic, and I think this is one of the best things to see in Milwaukee.

Love murals? This is one of my favorite murals spotted around Milwaukee.    This whimsical octopus mural graces the side of an everyday house (and serves as an unlikely backdrop for garbage bins!)

16. Admire the Basilica of Saint Josaphat

The gorgeous Basilica of Saint Josaphat is built in the Polish cathedral style (meaning characterized by much ornamentation and opulence). When it was granted basilica status in 1929, it was only the third basilica in the United States of America.

If it looks familiar to you, that may be since its design is based on the famous St. Peter’s Basilica in Rome.  The Basilica of Saint Josaphat boasts one of the largest copper domes in the world.

Pick up a map of the basilica from the visitors center to help guide your tour.  

Top features include the impressive Grand Pulpit, which is carved from white Italian marble.  You’ll also find vibrant stained-glass windows and incredible paintings and murals decorating the basilica.  Be sure to view the inner dome, decorated with intricate angel paintings and much gilding.

The north side is the main entry to the basilica.  The six grand columns gracing the portico were actually salvaged from Chicago’s County Courthouse.

17. Check out the Cathedral of St. John

While we were walking around Milwaukee, we were continually being distracted from our path by tall steeples poking out from behind buildings.  So, of course, we had to walk a block or two out of our way to look at these fantastic churches.

In fact, Milwaukee contains over one thousand houses of worship – astonishing!

You can’t miss the Cathedral of St. John the Evangelist with its yellow stone and copper details.  It is built in the German Renaissance Revival Style.

This cathedral probably gets the most attention since it is closer to the Riverwalk’s theaters and restaurants.  Plus, Cathedral Square Park sits immediately to its west.  The park hosts many community events such as markets and music performances.

18. Tour the Pabst Mansion

The impressive Pabst Mansion was built for Captain Frederick Pabst, who founded the iconic brewing company that bears his name.    This elegant mansion is an example of Flemish Renaissance Revival architecture and a symbol of America’s Gilded Age.

After Pabst’s descendants sold the property, it became home to Milwaukee’s Roman Catholic Archdiocese.  During that time, it housed several archbishops.   Quite the turnaround, from brewing magnate to clergy!

Today the Pabst Mansion is a house museum, open to the public. 

Stroll through the mansion’s elegant rooms and view the impressive collection of decorative and fine arts (totaling nearly 5,000 pieces).  Art from the Blatz collection is on permanent loan to the Pabst Mansion.

You can choose to take a self-guided tour, or a guided tour with a docent.  There are also specialty tours available, ranging from tours focused on the mansion’s incredible art collection, to happy hour tours and Sunday mimosa tours.

19. See the Gothic Water Tower

The Old North Point Water Tower is a combination of art and functionality.  This Victorian Gothic water tower stands 175 feet tall went into service in 1874.  Its elaborate design is similar to that of the Chicago Water Tower.

Inside the fancy exterior is a 120-foot-tall wrought iron standpipe.  The surrounding tower protects the water in the standpipe from freezing during Milwaukee’s cold winters.

The North Point Water Tower was an integral part of Milwaukee’s water supply system.  These public waterworks delivered water from Lake Michigan to city residents and industries for decades.

20. Explore Lake Park

Lake Park is a large urban park with a mix of trees, wide open spaces, and pathways winding throughout.  There is even a creek with a waterfall (you’ll have to climb down the wooden staircase to see it).

Lake Park contains many other amenities to enjoy, such as tennis courts, a soccer field, a golf course, and picnic areas.   Towards the northern end of the park, you’ll find the Lake Park Summer Stage.  Concerts and other community events are held here.

There’s even a fancy French Bistro on the park grounds, where you can enjoy fine cuisine overlooking Lake Michigan.

The park’s Oak Leaf Trail is a paved multi-use trail that will lead you to the North Point Lighthouse.  This lighthouse was built in 1888 and is open to the public on weekend afternoons.  Learn about the history of the lighthouse, its keepers, and the ships that traversed Lake Michigan. 

If you’re feeling adventurous, you can even ascend the tower.  After climbing 84 steps —and a ladder — you’ll reach the lantern room.

21. Dip your toes in Lake Michigan

Now, ‘beach’ might not be the first thing that springs to mind when you think ‘Wisconsin’.  However, Milwaukee is right on the shores of Lake Michigan, and there are indeed some beaches here!

After several hours of exploring Milwaukee, we were excited to cool off and walk along the shoreline.  Bradford Beach sits adjacent to Lake Park, so that’s the beach that we picked.

What we were not expecting was that the water would be C-O-L-D!  Oh, my goodness.  I had thought that if the ocean could get warm, that the lake could get warm! 

We visited in mid-June and the water was still so frigid that we could only immerse our feet it in for a few seconds at a time.   We did still walk along the shore – but keeping to the sandy portion.

There were some locals who were swimming in the lake, so I guess it’s what you are used to!

22. Visit Veterans Park

As you head south from Bradford Beach along the edge of the lake, you’ll walk through a series of parks.  Pass by the marina and and you’ll enter Veterans Park.

Veterans Park contains walking trails and a small enclosed lake (or large pond, hard to tell which) where you can rent paddleboats shaped like swans.

As you reach the southern end of the park, you’ll find the reasons for its name.  The Southeastern Wisconsin Vietnam Veterans Memorial stands tall with its imposing red granite columns.

The three columns represent those killed in action, missing in action, and returned home.  Additionally, the three central columns are surrounded by eleven shorter granite posts. These posts, like the one seen in the foreground below, represent each year of the war. 

And at the southernmost end of Veterans Park, you’ll find a statue honoring one of Milwaukee’s native sons.   General Douglas MacArthur, who served in the US Army, was one of only a few to achieve the rank of five-star general. 

23. See the War Memorial Center

Just a short distance from Veterans Park lies the Milwaukee County War Memorial Center.  The building doesn’t look like your typical museum or memorial center.  It’s a little more modern it its design.   

It’s hard to tell from this picture, but the front of the Center is an enormous mosaic.  The tiles commemorate the starting and ending years of World War II and the Korean conflict, writ large in Roman numerals.  (There are almost 1.5 million pieces making up this mosaic.)

In addition to exhibits recollecting military history, this center is also an event space. 

The exhibits are mostly on the upper floors, with the main floor being an open area with polished tiles and glass walls.  Be sure to visit the Veterans Courtyard behind the Memorial Center.  Here you’ll find this fountain with an eternal flame honoring those who served:

From the Veterans Courtyard, you’ll also enjoy excellent views of Lake Michigan and the Milwaukee Art Museum.  That’s where I got took the photo of the art museum in profile (back up in section 4).

24. Check out the college campuses

Milwaukee is quite the college town.  There are twelve major universities and colleges in Milwaukee, not to mention additional private colleges.

We kept running across buildings of the Milwaukee School of Engineering (MSOE) campus as we were exploring the area near our hotel.  It’s between the Milwaukee River and Lake Michigan, just north of the theater area. 

Marquette University is located about a mile west of the downtown Riverwalk area (near the Pabst Mansion).  The landmark Marquette Hall is an impressive building with a Gothic bell tower.  

If you’re in the area on a Wednesday afternoon, you’ll hear the ringing tones of the university carillon.

25. See the skyscrapers

You’ll find an amazing range of architecture in downtown Milwaukee.  Every time we turned a corner, we’d say, ‘Wow!  What’s that cool building?’ 

The Milwaukee Federal Building & US Courthouse takes up an entire city block!   This is another example of the Richardson Romanesque architectural style, which was popular in the Midwest in the 1880s.  Take a look the classic Roman arches – and that massive tower!

Lastly, I share with you the Milwaukee City Hall, another impressive piece of architecture.   

This City Hall is built in the Flemish Renaissance Revival Style, and it features a grand bell tower.  The bell weighs a whopping 22,500 pounds and is named ‘Solomon Juneau’ for Milwaukee’s first mayor.

Milwaukee Attractions Map

I know it can be hard to get a feel for where all these Milwaukee attractions are located. Here is a map of all the top places in Milwaukee that I’ve talked about:

Milwaukee Travel Tips

Where to Stay in Milwaukee

We stayed in Milwaukee for three nights at the Plaza Hotel. The Plaza Hotel checked all the boxes for us. Located in a historic building, the Plaza has a classy Art Deco charm and describes itself as a European style boutique hotel.

All of the rooms have full kitchens (including a full-sized refrigerator), and a sitting area. There is also a small restaurant on site serving breakfast and lunch. We were very pleased with the comfort of the room and the hotel overall.

We also appreciated the location and the neighborhood. It was a nice, quiet neighborhood (lots of cool churches to see) and was just a block away from a large grocery store.

We were able to walk just about anywhere within fifteen minutes — Old World 3rd Street, the Riverwalk, Lake Michigan, the Milwaukee Art Museum. For the amenities, price, and location, we’d stay at the Plaza Hotel again in a heartbeat!

Book your stay at Milwaukee’s Plaza Hotel , or check out other great Milwaukee hotels here: