Top 7 adventure things to do in Milwaukee

1. Sheboygan interactive scavenger hunt

Up to three hours of remote-guided fun — a scavenger hunt through Sheboygan's sights and culture, competing with teams from across the globe.

2. Milwaukee street food tour with a local guide

Three hours walking tour through Milwaukee's neighborhoods — sample street food and learn about the city's Germanic culinary heritage from a local guide.

3. Two-hour sailing trip on Lake Michigan from Milwaukee

Two hours on Lake Michigan for up to six people — enjoy scenic views of Racine, and possibly Milwaukee and Kenosha, with guidance from experienced crew.

“We enjoyed a wonderful day on the water. Rich was an excellent guide, and we only wished it could have lasted longer. The boat was clean and very comfortable.”— MacKenzie_T

4. Interactive scavenger hunt in Milwaukee

Two hours of exploration — a live host guides you via smartphone as you solve creative clues and uncover local culture for points.

“Having lived in OshKosh for five years without much exploration, I found this to be a great way to discover the city. We truly enjoyed ourselves and supported local businesses in the process. If you prefer a fast pace, two hours is sufficient, but for a more thorough exploration, I recommend 4-5 hours or even a full day. I will certainly do this again.”— E9904ISkatiew

5. Outdoor escape room adventure along Milwaukee's RiverWalk

Around two hours of clue-solving on Milwaukee's RiverWalk, combining scavenger hunt elements with urban exploration at your own pace.

“My family really enjoyed this outdoor escape room in Milwaukee. With our two sons, aged 14 and 12, who love escape rooms, the clues struck the right balance of being challenging yet achievable. We reached the final clue before needing a hint, which was satisfying. The area felt safe and was enjoyable to explore. I appreciated the self-paced nature, allowing us to set our own speed. I highly recommend this for anyone looking for a fun group activity with friends or family.”— ababaier

6. City skyline kayak tour on the Milwaukee River

One-and-a-half to two hours on the water — a guided kayak journey with views of Milwaukee’s downtown skyline and historical insights along the way.

“Having never kayaked before, I was uncertain about the experience, but my husband agreed to go tandem for my comfort. The tour turned out to be incredible. Viewing the skyline from the water offers a unique perspective, and our guide provided deep insights into Milwaukee's industrial history, architecture, and the significance of the Milwaukee River. We moved at a comfortable pace, observed many interesting sights, and enjoyed great discussions. I highly recommend this tour.”— donnadechant

7. Guided ghost tour of Milwaukee's haunted sites

Two-hour walking tour through downtown Milwaukee, featuring ghost stories at locations like the Hilton Garden Inn and Pabst Theater, guided by a local expert.

“The guide was very knowledgeable and shared numerous stories. He provided detailed information at many stops throughout the journey.”— anthony_o