Location: Milwaukee
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The 6 Best Historical & Heritage Tours in Milwaukee, Wisconsin (WI)
Located on the shores of Lake Michigan, Milwaukee is perhaps best known for its famous breweries and the Major League Brewers, but there's more to the city than beer and baseball. Milwaukee is rich in historical and cultural attractions, making it the perfect place for a weekend of exploring. Check out the newly expanded Milwaukee Art Museum or the Mitchell Park Horticultural Society, which hosts an annual show of the same flora and fauna seen in Georgia O'Keefe's paintings. Those interested in the city's history can visit the grand Pabst Mansion, former home of one of the city's famous beer barons, or the Milwaukee Public Museum, to see what life was like in Old Milwaukee. If the kids are along, don't miss the Milwaukee County Zoo or the Betty Brinn Children's Museum. Of course a trip to the "Genuine American City" would not be complete without a tour of the Miller Brewing Company and a Brewers game at Miller Park.
Restaurants in Milwaukee
1. The Grand Walk: An audio tour through Milwaukee's historical and cultural heart
Overall Ratings
5.0 based on 2 reviews
Catch a glimpse of the turn of the century opulence that made this the grandest street in Milwaukee. This history-based, sightseeing self guided audio tour begins at the Milwaukee Public library and ends at the Milwaukee Art Museum.
Inclusions: Lifetime access to this tour in English, VoiceMap App for Android and iOS, Offline access to audio, maps, and geodata
Exclusions: Tickets or entrance fees to any museums or other attractions en route, Smartphone and headphones, Transportation, Food/Drink
2. Milwaukee Tour
Overall Ratings
4.9 based on 365 reviews
Tap into Milwaukee's famous attractions and history as well as other sights you may not have known existed. Don't just see Milwaukee, experience it!
Inclusions: Driver/guide, Live commentary on board
Exclusions: Does not include paid parking, available across Water Street in an underground parking garage., Gratuities, Hotel pickup and drop-off
Reviewed By marcia0427
We had a very pleasant day with Mike. He shared incredible insight into all aspects of this beautiful city. There was nothing he didn’t know.
3. Discover Iconic Milwaukee Tour
Overall Ratings
4.9 based on 52 reviews
This tour has a minimum requirement. A 90-120 minute tour that showcases the historic City of Milwaukee! We'll see some popular tourist destinations, as well as some hidden gems around the city, all while educating you about Milwaukee's vibrant and exciting history. This tour has customizable options, and different lengths to suit your schedule! These tours only seat 5 guests per vehicle. For a private tour please reserve in 5 seat increments and the full Cruiser will be dedicated to your group only. Tour Days: 7 days a week. Tour Times: 10, 12, 2 & 4pm
Inclusions: Private transportation
Exclusions: Beverages are not provided by City Tours MKE, however guests are allowed to bring their own beverages and snacks aboard.
Reviewed By Cheryl J
Devin was our cruise director twice & amazing as well as Meagan who kept me up with details I so appreciate the personal comment about my feline loss We were very happy !!!
4. 1-Day Harley-Davidson Museum+Lake Geneva (Chicago Departure) CW1
Itinerary: Milwaukee → Harley-Davidson Museum (Optional, 75 mins) →Miller Brewery (Optional, 75 mins) → Lake Geneva → Lake Geneva Bay Cruise (Optional, 60 mins)
Inclusions: Transportation (The type of vehicle used will base on the number of guests on the day.) , Bilingual (English & Chinese) driver and/or guide
Exclusions: Food and beverage, Attraction admission fee (Prices are subject to change without prior notice), Service fee ( minimum US$12/person/day, Child/Infant reserving a seat has to pay the service fees), Any personal expenses are not listed, Lake Geneva Cruise: Adult:$30.00, Senior(65+): $28.00, Child (3-12): $16.00, Harley Davidson Museum: Adult: $20.00, Senior(65+): $14.00, Child (5-17): $10.00, Miller Brewery : Adult（20+）: $10.00 per person
Reviewed By 295kaitlyne
it was amazing, just there was a storm coming so we had to wait in line FOREVER and the water park rides were closed (because of the storm)... but otherwise it was great!
5. The best of Milwaukee walking tour
Together with the professional guide, you will visit the most charming places in the city. You will have a chance to explore the city, while hearing fascinating facts and legends. Kansas City is undeniably the home of barbecue, BBQ restaurants per capita than anywhere else in the world. Why is it also called The City of Fountains”? You will be surprised how many stories are hidden in the streets, buildings and corners of Kansas City. Your charming guide will tell you what is special and unique about living in this city. Perfect for those who are visiting the city for the first time and want to get the most of it! Together with the professional guide, you will visit the most charming places in the city. Where in Milwaukee was the typewriter invented? What’s so special about the Downtown Skywalk over the Milwaukee River? You will be surprised how many stories are hidden in the streets, buildings and corners of Milwaukee. Perfect for those who are visiting the city for the first time!
Inclusions: Local Professional Guide
Exclusions:
6. Romantic tour in Milwaukee
An exclusive tour for all the romantics of the world! Together with the professional local guide, you will visit the most romantic places in the city. Milwaukee is an interesting city that is widely known to have been built on swampland. You will feel spellbound in a charming atmosphere. What is considered as one of the best places to have a date in the city? Where can you make lovely photos? You will be surprised how many historical love stories are hidden in the streets, buildings, parks of the city. From heartbreaking and tragic, to the hilarious or spicy ones. What happened to the strange Milwaukee’s Love Rock in Lake Michigan? This tour is especially recommended in the Saint Valentine period!
Inclusions: Local Professional Guide
Exclusions:
