Top 8 luxury & private things to do in Milwaukee

1. Private SUV transfer from Milwaukee Airport to city centre

Twenty minutes, private SUV for up to five passengers — direct transfer from Milwaukee Airport to downtown hotels.

2. Private transfer from Milwaukee City Center to Milwaukee Airport

Travel by private vehicle directly from Milwaukee City Center to MKE Airport, ensuring a comfortable and efficient airport transfer.

3. 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.

4. 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

5. Helicopter tour over downtown Milwaukee

Twenty minutes in the air — aerial views of downtown, the Milwaukee River, Hoan Bridge, and Milwaukee Art Museum from a helicopter.

“The pilot exhibited great professionalism and expertise as he navigated his aircraft over Milwaukee, highlighting key landmarks along the way. He shared his passion for flying helicopters that has grown over time. We felt completely safe throughout the journey, and the radio headsets allowed us to converse easily.”— Cindy D

6. Sheboygan waterfront Segway tour with private option

Two hours along scenic lakeside and river routes — guided Segway tour highlighting maritime history and harbor landmarks in Sheboygan, with training provided.

“We had an incredible time! The scenery was stunning, and our guide was not only polite but also shared fascinating stories that enriched the experience.”— Channel_F

7. Milwaukee Skywalk food tour with local tastings

Two hours tasting five local dishes and one secret dish, all enjoyed from the warmth of the Skywalk in downtown Milwaukee.

“This tour was fantastic. Taylor provided excellent insights into Milwaukee's history and interesting facts. All the stops featured local attractions. The food was delicious, and there was plenty to satisfy your appetite, so be sure to arrive hungry. Plus, it offers a pleasant walk around the city.”— scottg84

8. 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