Are you planning a trip to the lovely city of Milwaukee? If so, you have a delightful experience ahead of you in this historic metropolis that supports idyllic summer weather, a vibrant local arts scene, and delicious Midwestern cuisine. Also known as “Brew City” for its famous brewing heritage, Milwaukee offers dozens of award-winning breweries, major cultural attractions, and other leisure activities to satisfy visitors of every taste and persuasion. This itinerary will help you maximize your short stay in Wisconsin’s most populous city.
Visiting Milwaukee by RV is an excellent option for your upcoming trip. Renting an RV gives you more control over your schedule while allowing you to explore the surrounding countryside and visit the area’s unique lakeside campgrounds. RV rentals from RVshare offer a convenient, mobile approach for traveling as a group without worrying about setting up multiple tents across various campsites. Vacationing in one of our premium rigs also grants you the flexibility to immerse yourself in an authentic Milwaukee experience.
Search RV rentals in the Milwaukee area.
Preparing for Your Milwaukee, Wisconsin RV Trip
As you plan your RV Milwaukee itinerary, you’ll find a bevy of rental options to meet various travel requirements. You can select from drivable motorhomes or towable trailers that let you unhook your personal vehicle to cruise the city. Booking your RV rental through RVshare ensures access to a wide selection of RVs of all sizes, with trusted reviews and reliable customer support.
Those booking an RV rental for the first time will find plenty of useful resources to help plan their trips:
• How to Choose the Best RV Size for Your Trip
• RVing Basics: Tips for Parking Your RV
• How to Choose the Right RV
• RV Trip Planner: How to Plan the Ultimate RV Route!
Once you’ve found the perfect RV, it’s time to reserve a campsite where you can unwind when not exploring the Milwaukee cityscape. This area delivers a generous supply of camping options that provide a full range of essential hookups and amenities to ensure a comfortable stay. Some popular local options include Wisconsin State Fair RV Park, Jellystone Park Caledonia, and Lake Lenwood Beach and Campground. Booking your site in advance lets you confidently embark on your next Milwaukee adventure, knowing you’ll have a secure spot to settle into once you arrive.
Find other campground options in our comprehensive list of top-rated campgrounds in Milwaukee, Wisconsin.
Day 1: Discovering Milwaukee’s Unique History and Local Culture
Morning: Tour the Milwaukee Art Museum
Kick off your two-day journey to Milwaukee by visiting the city’s iconic Milwaukee Art Museum. The museum exhibits over 250,000 works of art. It’s renowned as an architectural landmark designed by Eero Saarinen, David Kahler, and Santiago Calatrava, with its distinct winged brise-soleil. Here, you can experience an impressive range of exhibits, from contemporary masterpieces to traditional American decorative arts.
Lunch: Sample the Local Cuisine at the Milwaukee Public Market
After taking in the museum’s impressive art selection, visit the Milwaukee Public Market, a unique food destination that consists of local vendors boasting an impressive selection of delicious local and international cuisine. This open-market venue offers something for everyone, from seafood at the St. Paul Fish Company to tasty artisanal sandwiches at Brunzel’s Meat Market. You can dine outside in the venue’s hall while enjoying the fresh air and enjoy Milwaukee’s Historic Third Ward district.
Afternoon: Stroll Along the Famous Milwaukee Riverwalk
The Milwaukee Riverwalk offers a relaxing, scenic pathway that winds through the city’s unique downtown cityscape along the Milwaukee River. As you make your way, you’ll encounter various outdoor art installations, small boutiques, and multiple upbeat cafes where you can enjoy an afternoon latte or tasty frozen refreshment. Don’t forget to check out The Bronze Fonz statue, a local tribute to the iconic character from “Happy Days.”
Setting Up Camp
As your day draws to a close, head back to your reserved RV site to establish basecamp. Most RV campgrounds support an onsite host to help check you in and advise you on your campsite location. If you have questions, the site representative can also inform you of the best strategy for parking and how to connect to any available hookups. If you’re uncomfortable driving and setting up an RV, consider having it delivered to the site. Be sure to review the specific listing to confirm this choice is available, or you can always filter your search by delivery options.
Dinner: Open Camp Fire or Urban Restaurant Fare
You have many unbeatable options for dinner in the Milwaukee metro area. Alternatively, you can cook outside over an open campfire or utilize the benefits of a full RV kitchen. If you’re keen on venturing out for an evening on the town, we recommend Goodkind, just outside Milwaukee in Bay View. The restaurant is known for its American posh-style cuisine with dozens of creative cocktails, dinner plates, and dessert selections. Seasonal offerings include champagne-battered oyster mushrooms or fennel pollen fry-brined Amish chicken paired with a stiff mixed drink or freshly crafted local brew.
Day 2: Exploring Milwaukee’s Cultural and Entertainment Scene
Morning: Visit the Mitchell Park Horticultural Conservatory
Kickoff day two with a tour of Mitchell Park Horticultural Conservatory, locally referred to as “The Domes.” This informative Milwaukee attraction features three unique domes, each with a distinct floral and vegetative display. You can experience everything from lush tropical gardens to vibrant seasonal floral displays here.
Lunch: Swing by Sobelman’s Pub & Grill
Make your way over to Sobelman’s Pub & Grill after a refreshing start at the horticultural conservatory. This classic pub venue is known for its delicious and hearty lunch menu. It is even more famous for its massive burgers and fresh Bloody Marys. Don’t forget to try the “Sobelman” burger topped with cheese, bacon, onions, and jalapeños with a cold drink from a Milwaukee brewery.
Afternoon: Check Out the Harley-Davidson Museum
The Harley-Davidson Museum honors Milwaukee’s most recognizable brand. The exhibit chronicles over 100 years of the company’s rise from a two-person organization to a major multinational corporation. You’ll find a well-curated collection of classic H-D motorcycles, historical artifacts, and interactive exhibits at the museum. Even if you’re not a motorcycle enthusiast, the museum still offers fascinating insights into one of the most iconic brands in American history.
Evening: Live Entertainment at the Pabst Theater
Wrap up your day with some live music at Milwaukee’s Pabst Theater. Designed as a traditional European opera house in the German Renaissance Revival style, the beautifully ornate building hosts music concerts, comedy shows, and seasonal events that include local and national acts. Visiting the Pabst Theater ensures a memorable evening and gives you a great way to experience Milwaukee’s vibrant arts scene.
Day 3 and Beyond in Milwaukee
Spending two days in Milwaukee will undoubtedly give you an idea of everything this unique Great Lake city can offer. Still, if you have the extra time, there’s so much more to explore. Here are a few recommendations from the locals if you choose to extend your stay:
• Pay a visit to the Milwaukee County Zoo. Observe more than 3,000 animals across 350 species in a 190-acre park-like setting.
• Be sure to experience Discovery World. This 120,000-square-foot center offers countless learning activities for the whole family across various educational labs, interactive exhibits, and focused programs.
• Take a tour of the Miller Brewery. Learn about the beer production process at this historic Milwaukee brewery and enjoy freshly brewed samples.
Winter Activities
Watch or participate in winter sports activities like sledding, ice skating, and cross-country skiing at Whitnall Park and Red Arrow Park.
Indoor Activities
If the outdoor weather doesn’t permit, you can always visit the Milwaukee Public Museum for a taste of natural and human history. Alternatively, you might consider checking out the stunning Riverside Theater for live entertainment.
Regardless of what you put on your itinerary during your two days in Milwaukee, you’re guaranteed not to run out of culinary and entertainment options. With a diverse range of exquisite campsites just a short driving distance away, the city’s dynamic mix of authentic Midwestern attractions and natural lakefront beauty makes it an excellent destination for your rental RV trip.
