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.

Free Walking Tours for Members Include: Bay View, Discover Downtown Indoors, Downtown, HOP Streetcar, Historic Third Ward, North Point Mansions, Riverwalk, Skywaukee, Water to Westown. Learn more about becoming a member of Historic Milwaukee.

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