Tour Milwaukee with trained Historic Milwaukee tour guides. Tours feature architecture, history, notorious and lesser known narratives from our city's storied past.

Pre-registration is required for all tour participants, including members. Explore the schedule by tour or calendar to book. Tours are cancelled at 8 pm the night before if there are no registrations.

All tours are led by volunteer tour guides. Tipping is not required but always appreciated.

Please note, due to some ongoing construction projects downtown, Saturday access to some skywalks is limited. To address this, we have modified our Saturday tour, now called Discover Downtown Indoors, which explores busines and people along W. Wisconsin Ave. Both tours are offered indoors.

Jump to Tour Calendar
BOM2024_FinalistLogo copy
Best-Milwaukee-Tour-Logo

2026 Regular Tours

    A row of houses lines a residential street; one yard features a large white and black model lighthouse surrounded by rocks.

    Bay View

    Duration: 90 minutes
    Cost: $8-$16
    1.9 miles, moderate pace

    Travel back in time and learn more about Wisconsin’s first…

    View Tour →

    Beyond Brady Street

    Duration: 120 minutes
    Cost: $8-$16
    1.2-mile, moderate pace

    This key commercial corridor on Milwaukee’s Lower East Side was…

    View Tour →
    A view through large windows shows a downtown street with a yellow school bus, light traffic, and several multi-story buildings on a sunny day.

    Discover Downtown Indoors

    Duration: 90 minutes
    Cost: $8-$16
    1 mile, slow pace

    Discover Downtown Milwaukee from indoors! Just west of the Milwaukee…

    View Tour →
    A cityscape view of downtown Milwaukee, Wisconsin, showing tall buildings, historic architecture, and Lake Michigan in the background under a clear blue sky.

    Downtown

    Duration: 90 minutes
    Cost: $8-$16
    1 mile, moderate to brisk pace

    Downtown Milwaukee’s growth began around the intersection of N. Water…

    View Tour →
    A large, multi-story historic building with light brick exterior, arched windows, and a central tower stands under a partly cloudy blue sky. Leafless trees line the sidewalk in front.

    German Heritage Tour

    Duration: 120 minutes
    Cost: $8-$16
    1 mile, moderate to brisk pace

    Milwaukee, once known as the German Athens, is the most…

    View Tour →
    A white boat labeled "EDELWEISS II" travels under a large yellow-arched bridge on a sunny day with scattered clouds.

    Historic Narrated Boat Tours

    Duration: 90 minutes
    Cost: $15.25-$30.50

    Travel through downtown Milwaukee underneath its bridges, see historical landmarks…

    View Tour →

    Historic Third Ward

    Duration: 90 minutes
    Cost: $8-$16
    1 mile, moderate pace

    The Historic Third Ward was the first stop for many…

    View Tour →
    A streetcar with "Potawatomi Hotel & Casino" branding travels through an urban intersection with buildings in the background.

    Hop

    Duration: 75 minutes
    Cost: $8-$16
    2.1 miles

    Explore Milwaukee’s distant and more recent past while enjoying a…

    View Tour →
    Aerial view of a historic stone water tower surrounded by a circular road, with nearby modern hospital buildings and green park areas.

    North Point Mansions

    Duration: 120 minutes
    Cost: $8-$16
    1.4 miles, moderate to brisk pace

    Set on a bluff, overlooking the northern point of Milwaukee’s…

    View Tour →

    Riverwalk

    Duration: 90 minutes
    Cost: $8-$16
    1.2 miles, moderate to brisk pace

    Like many communities in the industrial Midwest, Milwaukee’s ecological legacy…

    View Tour →
    View of a city river and surrounding buildings through large glass windows with metal beams, taken from inside a pedestrian walkway.

    Skywaukee Tour

    Duration: 1.5 hours
    Cost: $8-$16
    1 mile, moderate pace

    Explore downtown Milwaukee from indoors! Stroll through the skywalk system…

    View Tour →
    Two construction workers stand in front of historic and modern buildings under a clear blue sky in an urban setting.

    Water to Westown

    Duration: 90 minutes
    Cost: $8-$16
    1.4 miles, moderate to brisk pace

    West of the Milwaukee River, you’ll find the historic arts…

    View Tour →

2026 Special Tours & Events