Milwaukee might not be the first city that pops into your mind when you think of must-visit U.S. destinations, but trust us—this underrated gem on Lake Michigan’s shores packs a punch.
From jaw-dropping museums and lush parks to mouthwatering food scenes and quirky festivals, there’s no shortage of fun things to do in Milwaukee.
Ready to dive into the Cream City’s best offerings? Whether you’re a history buff, an outdoor enthusiast, or a foodie hunting for the next great bite, Milwaukee’s got your back.
Buckle up—we’re about to uncover the top Milwaukee attractions that’ll make you want to book a trip ASAP.
1. Explore the Milwaukee Art Museum’s Stunning Architecture
If there’s one thing Milwaukee does right, it’s blending art with show-stopping design. The Milwaukee Art Museum isn’t just home to over 30,000 works of art—it’s a masterpiece itself.
The Burke Brise Soleil, a movable wing-like structure, opens and closes like a bird taking flight. Even if you’re not an art connoisseur, the lakeside views and Instagram-worthy angles make this a must-see.
Inside, you’ll find everything from Renaissance paintings to modern installations.
Pro tip: Visit during “MAM After Dark” events, where the museum turns into a hip social spot with live music and cocktails (non-alcoholic options available).
Whether you’re snapping pics outside or geeking out over Georgia O’Keeffe’s works, this is hands-down one of the best things to do in Milwaukee.
2. Stroll Along the Milwaukee RiverWalk
Want to soak in the city’s vibe without rushing? The Milwaukee RiverWalk is your go-to.
Stretching three miles along the Milwaukee River, this scenic path winds past breweries (serving craft root beer for the non-drinkers), public art, and buzzing cafes.
It’s perfect for a morning jog, an evening walk, or just people-watching with a coffee in hand.
Don’t miss the Bronze Fonz statue—a quirky tribute to Happy Days—or the chance to spot kayakers gliding by.
If you’re visiting in summer, the RiverWalk becomes even livelier with outdoor dining and street performers.
Exploring Milwaukee’s RiverWalk is a laid-back yet unforgettable way to experience the city’s charm.
3. Get Hands-On at the Milwaukee Public Museum
History buffs, science lovers, and curious kids alike will lose track of time at the Milwaukee Public Museum.
This place isn’t your typical stuffy exhibit hall—it’s an adventure. Walk through a life-sized dinosaur exhibit, explore a replica of a Costa Rican rainforest, or step into a 19th-century European village.
The Butterflies Alive! exhibit is a crowd favorite, where hundreds of colorful butterflies flutter around you.
With rotating exhibits and interactive displays, this museum makes learning ridiculously fun.
If you’re looking for unique things to do in Milwaukee, this should be high on your list.
4. Catch a Game at American Family Field
Even if you’re not a baseball fan, experiencing a game at American Family Field (home of the Milwaukee Brewers) is a blast.
The stadium’s retractable roof means games happen rain or shine, and the energy is contagious.
Grab a classic ballpark hot dog (vegan options available!) and join the crowd in cheering, “Let’s go, Brewers!”
If you’re visiting outside baseball season, take a stadium tour to peek behind the scenes, including the famous Bernie Brewer’s slide.
Whether it’s your first game or your fiftieth, this is a must-do Milwaukee experience.
5. Discover the Harley-Davidson Museum
Milwaukee and Harley-Davidson go way back—this is where the iconic bikes were born.
The Harley-Davidson Museum is a thrilling ride through motorcycle history, featuring over 450 bikes, rare prototypes, and even Elvis’s 1956 KH.
You don’t need to be a biker to appreciate the craftsmanship and rebellious spirit on display.
Test-ride a Harley (or just pose for pics on one), and don’t skip the gift shop for some killer merch.
For a taste of authentic Milwaukee culture, this museum revs up the excitement.
6. Relax at Bradford Beach
Who says you need an ocean for a great beach day? Bradford Beach brings the vibes with golden sand, volleyball nets, and skyline views.
In summer, it’s packed with sunbathers, while winter brings brave souls out for polar plunges.
Grab a smoothie or a veggie burger from the nearby Beach Shack, then unwind with your toes in the sand.
If you’re craving outdoor activities in Milwaukee, Bradford Beach delivers fun in the sun (or snow).
7. Wander Through the Milwaukee Public Market
Foodies, rejoice! The Milwaukee Public Market is a paradise of local flavors, from fresh cheese curds to vegan tacos.
This bustling spot in the Historic Third Ward is perfect for sampling Wisconsin’s best bites under one roof.
Try St. Paul Fish Company’s lobster rolls (or their vegan alternatives), or indulge in C. Adam’s Bakery’s famous pastries.
With live cooking demos and artisan goods, this market is a must-visit Milwaukee attraction.
8. Bike the Hank Aaron State Trail
For an active escape, hop on the Hank Aaron State Trail. This 14-mile path cuts through parks, urban landscapes, and along the Menomonee River.
Rent a Bublr bike and pedal past breweries, wildlife, and even the stadium.
It’s a fantastic way to see the city while staying active. Whether you’re biking, jogging, or just strolling, this trail offers some of the best outdoor things to do in Milwaukee.
9. Step Back in Time at the Pabst Mansion
Ever wondered how Milwaukee’s beer barons lived? The Pabst Mansion gives you a peek into Gilded Age luxury.
This stunning 19th-century home, once owned by Captain Frederick Pabst, features original furnishings, stained glass, and opulent decor.
Guided tours reveal fascinating stories about Milwaukee’s history and the family behind the famous Pabst Blue Ribbon.
Architecture lovers and history nerds will eat this up—it’s one of the coolest Milwaukee activities off the beaten path.
10. Enjoy the Views from Lake Park
Designed by the same guy behind New York’s Central Park, Lake Park is Milwaukee’s green oasis.
Hike the trails, have a picnic, or just admire Lake Michigan’s endless blue. The North Point Lighthouse offers killer views, especially at sunset.
In summer, catch an outdoor movie or live music event here. If you’re after relaxing things to do in Milwaukee, Lake Park is pure serenity.
11. Tour the Mitchell Park Horticultural Conservatory (The Domes)
The Mitchell Park Domes are like a tropical getaway—even in winter. These giant glass domes house a desert biome, a rainforest, and seasonal floral displays. It’s warm, colorful, and perfect for plant lovers.
Kids will love the interactive exhibits, and photographers will obsess over the lush backdrops. For a unique Milwaukee experience, the Domes deliver.
12. Cheer On the Bucks at Fiserv Forum
Milwaukee’s NBA team, the Bucks, brings insane energy to Fiserv Forum. Even if basketball isn’t your thing, the arena’s design and electric atmosphere make it worth a visit.
Catch a game, or check out concerts and events year-round. With top-notch food vendors (including vegan options), it’s a slam dunk for entertainment.
Final Thoughts: Milwaukee Awaits!
From world-class museums to lakeside hangs, Milwaukee is packed with unforgettable things to do.
Whether you’re here for a weekend or a week, this city’s mix of culture, history, and fun will keep you hooked.
So what are you waiting for? Start planning your Milwaukee adventure today—you won’t regret it!