Start your trip off by exploring the heart of Milwaukee. Walk around the Historic Third Ward filled with unique shops and galleries, then head to the Milwaukee Art Museum for stunning lake views and exhibitions. End the day at Harbor House with a seafood dinner and a view of Lake Michigan.
Begin the day by visiting the Pabst Brewery for a tour of the historic brewing facilities and a beer tasting. Next, head over to the Milwaukee Riverwalk for a scenic stroll and stop to rent a kayak at the Urban Ecology Center. End the day with a delicious meal and Milwaukee's famous custard at Leon's Frozen Custard.
Visit the Milwaukee County Zoo with over 2,000 animals and walk through the various zones for a unique experience. Afterwards, head to the nearby Grant Park for hiking and beachy scenery. End the trip at North Point Lighthouse followed by a meal at the Lake Park Bistro with cozy and intimate ambiance overlooking Lake Michigan.
Public transportation is easily accessible in Milwaukee via buses and the MKE Hop streetcar. An all-day pass for both modes of transportation can be purchased for $5. Ride-hailing services are also available for a higher price point.
If you have more time, consider checking out the Harley Davidson Museum or the Milwaukee Public Market. If time is limited, skip one of the locations on the itinerary, but be sure to visit the Milwaukee Art Museum and grab a custard from Leon's Frozen Custard.
The primary airport in Milwaukee is the General Mitchell International Airport (MKE), located approximately 10 miles south of downtown Milwaukee.