Milwaukee: Private City Tour with Art Museum & Lakefront

Summary

Milwaukee’s neighborhoods art alleys lake breezes and city stories

You’ll ride through Milwaukee’s neighborhoods with a local guide who knows all the shortcuts and stories—see street art in Black Cat Alley, catch lake breezes by McKinley Marina, pass icons like Lakefront Brewery and the Harley-Davidson Museum, and finish with options for custom drop-offs. It’s city touring without feeling rushed or scripted.

What’s the experience like?

The first thing I noticed was how our driver, Marcus, seemed to know everyone on MLK Drive — a nod here, a wave there. We’d barely settled into the cruiser when he pointed out Fiserv Forum rising above the old brickwork. There’s something about Milwaukee’s mix of new glass and faded signs that makes you feel like you’re catching up with an old friend who’s changed but kept their quirks. The air smelled faintly of hops from somewhere nearby, which Marcus said was just “Milwaukee being Milwaukee.”

I didn’t expect to end up in Black Cat Alley, but there we were—me squinting at a mural while my partner tried (and failed) to snap a selfie without someone photobombing. A local artist was touching up one of the walls; she smiled and told us to check out The Wax Wing for souvenirs. I bought a pin shaped like a cheese wedge because…well, it felt right. Later, walking along Lincoln Memorial Drive, there was this hush off Lake Michigan—wind tugging at my sleeves and gulls making more noise than seemed possible. I still think about that view over the water.

We rolled past Lakefront Brewery (Marcus claims their cheese curds are “dangerously good”) and then by the Harley-Davidson Museum—didn’t go in, but you could almost hear the echo of engines anyway. He said if we wanted to stop there or at the Milwaukee Art Museum after, just let him know—apparently drop-offs are easy to arrange. The whole day felt relaxed but somehow packed; every neighborhood had its own flavor. At one point I realized I hadn’t checked my phone in hours.

Step-by-step itinerary

Day 1 — Explore Milwaukee's iconic landmarks

• Pass through Deer District and view Fiserv Forum
• See Old World Third Street (MLK)
• Stop at The Wax Wing for souvenirs
• Stroll through Black Cat Alley
• View back gardens at Lincoln Memorial terrace
• Pass by Commerce Street near Lakefront Brewery
• Pass by Broadway Avenue
• Pass Coakley Water Tower on 5th Avenue
• Pass Harley-Davidson Museum on 6th Avenue
• Visit McKinley Marina and walk on Lake Michigan
• Drive to Milwaukee Art Museum viewpoint

Top questions

Is this Milwaukee city tour private?

Yes, each vehicle seats up to 5 guests for a private experience.

Does the tour include entry to the Milwaukee Art Museum?

No entry is included, but arrangements can be made for drop-off after the tour.

Are pickups included in this tour?

Yes, private transportation is provided throughout your experience.

Can I bring an infant or service animal?

Yes, infants must sit on an adult’s lap and service animals are allowed.

How long does the day trip last?

The length can be customized based on your schedule and interests.

Will we visit Lakefront Brewery?

You’ll pass by Lakefront Brewery; entry isn’t included unless arranged separately.

Is public transportation nearby if I want to stay longer somewhere?

Yes, public transit options are available near most stops along the route.

What’s included

Your day includes private transportation in a comfortable cruiser with space for five guests, guided stops and strolls through key Milwaukee neighborhoods like Third Ward and Black Cat Alley, plus flexible drop-off options at places like the Harley-Davidson Museum or Milwaukee Art Museum if you want extra time exploring after the main tour.