Top 10 cultural & heritage 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. Westown Walking Tour in Milwaukee

A 1.4-mile walking tour exploring Westown’s historic arts and entertainment district, including the transformation of key buildings and venues.

3. Milwaukee German Heritage walking tour

Two hours of walking along Old World Third Street, exploring German influences, with stops at historical sites like Turner Hall and Germania Building.

4. 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.

5. Kenosha downtown urban art and photography walking tour

Two-hour guided walking tour through Kenosha's downtown, showcasing local art, architecture, and views of Lake Michigan, perfect for photography enthusiasts.

“This was an incredible experience. The tour was both engaging and informative as we explored Kenosha, including downtown and the waterfront. It was paced perfectly, catering to a diverse age group. I highly recommend it to anyone visiting the area.”— N7927XSclareh

6. Private food tour of Milwaukee with beer and cheese tasting

Three hours strolling through Milwaukee — sampling local beer, cheese, and classic dishes from various restaurants and market stalls, tailored to your schedule.

“Tara proved to be an excellent tour guide, combining knowledge with a fun approach, which made the entire experience stress-free. It was incredibly enjoyable, and we will definitely suggest this food tour to our friends and family.”— savannahr530

7. Milwaukee city bus tour

Ninety to 120 minutes by bus — highlights include Lake Michigan, the Harley-Davidson Museum, and the historic Third Ward, guided by a local perspective.

“Sean was a fantastic tour guide—very personable and professional. He suggested great restaurants and allowed us ample time for photos. I really enjoyed the experience.”— Trail60724992235

8. 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

9. Walking tour of downtown Milwaukee

A one-mile stroll through downtown Milwaukee's history, highlighting architectural landmarks from the Gas Light Building to Northwestern Mutual's headquarters.

“My husband and I participated in two tours—one concentrated on the history of downtown architecture, culminating at an art museum with breathtaking views of Lake Michigan. The second tour explored further along the river, introducing us to new areas. Both guides were knowledgeable and shared extensive information about downtown and its history.”— RichardJ3263

10. Old Milwaukee e-bike tour

Three hours on a pedal-assist e-bike, covering 15 miles through historic neighborhoods, parks, and key city landmarks.

“Jimmy was an excellent guide with a wealth of knowledge about Milwaukee. We strongly recommend this tour. The bikes were easy to ride and quite comfortable.”— U8806XNmarko