Milwaukee Car Rental Deals Explore Lake Michigan on Your Own Terms

Introduction: Welcome to Milwaukee, Wisconsin’s largest city known as “Brew City” for its beer heritage and the “City of Festivals” for its year-round celebrations. Whether you’re here to stroll along the beautiful Lake Michigan waterfront, dive into the city’s vibrant arts and food scene, or attend one of Milwaukee’s famous festivals, a rental car will give you the freedom to experience it all and venture beyond the downtown. This page is your complete guide to securing an affordable Milwaukee car rental with ease. We’ve combined AirportVanRental’s best deals with local insider tips, so you can rent a car in Milwaukee confidently, whether you’re a local needing a weekend ride or flying in from afar. From cruising down Wisconsin Avenue to day-tripping around the region, we’ve got you covered with the perfect vehicle. Get ready to discover Milwaukee on your terms with the flexibility to go anywhere and extra savings in your pocket.

• No Pre-Payment Needed: Reserve your car now, pay at pick-up. Most rentals on our platform require no upfront payment, giving you flexibility if your plans change last-minute.
• Free Cancellation: Enjoy free cancellation on most bookings up to 48 hours before pickup. Lock in a great Milwaukee rate early without worry if your schedule shifts or something comes up, you won’t be stuck with fees.
• Instant Confirmation: Our booking process takes just a few clicks. Once you’ve found the perfect vehicle, confirm your reservation and you’re all set. You’ll receive a confirmation email with all the details (including the rental company, address, and pick-up instructions in Milwaukee).
• Transparent Pricing: The rate you see includes all mandatory taxes and fees we break it down so there are no surprises at the counter. (Milwaukee rentals include standard state/county taxes and, if picking up at the airport, an airport concession fee but don’t worry, our quotes show these upfront.)
• Trusted Rental Partners: We work with reputable national brands (like Enterprise, Hertz, Budget, Alamo, and more) as well as reliable local agencies to bring you the best rates in Milwaukee. Our partnerships and volume discounts often mean you get exclusive prices here that you won’t find by walking up to the counter.
• Specialty Vehicles (Including Vans): AirportVanRental specializes in van rentals, so in Milwaukee you’ll find plenty of options for minivans and 12-passenger vans that other sites might not show. Of course, we also list sedans, compacts, SUVs, luxury cars, and hybrids with hundreds of vehicles in the system around Milwaukee, you can choose exactly what fits your trip. (Pro tip: Milwaukee’s downtown streets and historic neighborhoods are fairly drivable, but parking a smaller car can be easier in tight spots. If you have a big group or lots of gear heading to a Brewers game with a tailgate setup perhaps a van or SUV will accommodate you comfortably.)

Why Rent a Car in Milwaukee?

Milwaukee does have public transportation and rideshare services, but depending on your plans, having your own car can vastly improve your experience. Here’s why savvy travelers (and locals on staycations) choose to rent a car in Milwaukee:

• Ultimate Freedom to Explore: Milwaukee’s attractions are spread across distinct neighborhoods and beyond. Public transit (the MCTS bus system and the new streetcar, “The Hop”) can get you to some places, but it won’t easily take you to suburban spots, county parks, or outlying towns. With a car, you can visit the Harley-Davidson Museum in the Menomonee Valley, then drive out to the Milwaukee County Zoo (located in a suburb) the same afternoon on your own schedule. Want to check out the iconic Mars Cheese Castle in Kenosha or hit the Pleasant Prairie outlets 40 minutes south? How about a fish fry at a tucked-away supper club in Mequon? A rental car unlocks the entire metro area and beyond, so you’re not confined to just the downtown footprint.
• Convenience for Festivals & Events: They call Milwaukee the “City of Festivals” for good reason from Summerfest (the world’s largest music festival) to ethnic festivals like Irish Fest, German Fest, Mexican Fiesta, and seasonal events, there’s always something happening. These festivals are often at the lakefront Henry Maier Festival Park or other venues where public transit can be crowded or limited late at night. With a car, you can come and go on your own time no waiting for a rideshare surge or packed shuttle. This also helps if you’re visiting during big events like the Wisconsin State Fair (in West Allis, just outside city limits) or a major concert/sports game you’ll have control over your commute and a secure place (parking) for your belongings. Toss the folding chairs or picnic gear in the trunk and head out!
• Door-to-Door in Winter: Milwaukee winters are cold and snowy. While the city does a good job clearing roads, waiting for buses or walking long distances in sub-zero windchill isn’t much fun. With a rental car, you can hop in, crank up the heat, and get door-to-door comfort. Visiting family or friends around town for the holidays? You’ll appreciate having a car to avoid scheduling pickups or standing on icy corners. Plus, you can easily drive to winter attractions like the Mitchell Park Domes (tropical conservatory gardens) or holiday lights displays in the suburbs, which might be tricky to reach otherwise. Essentially, a car keeps you warm, dry, and on your own schedule during Milwaukee’s winter months.
• Efficient Business Travel: If you’re in Milwaukee on business, a rental car can be a time-saver. The metro area is relatively spread out. You might have a meeting downtown in the morning, then another in Brookfield or Wauwatosa in the afternoon. Rather than relying on taxis or coordinating rides, having a car lets you zip between appointments quickly via the freeway. You can also easily reach business parks or neighboring cities like Racine and Madison if needed. And if your trip bleeds into leisure time, you have the freedom to explore attractions (maybe squeeze in a brewery tour or catch a Brewers game at American Family Field) without arranging separate transport.
• Family-Friendly Flexibility: Traveling with kids? Milwaukee has lots of family attractions the Discovery World science museum, Betty Brinn Children’s Museum, the zoo, not to mention day trips to Wisconsin Dells or Green Bay. A rental car makes family logistics so much simpler. Need to pack a stroller, snacks, and diaper bags? Throw it all in the trunk. You can move at your family’s pace, accommodate nap times with car rides, and have a private space for any on-the-go needs. No dealing with the constraints of bus schedules or the expense of multiple Ubers. If you have toddlers in car seats, you can rent those too and have them installed in the car, ensuring safety and convenience for your little ones.
• Access to Surrounding Gems: Milwaukee is a fantastic base to explore southeastern Wisconsin and northern Illinois. With a car, you’re within an hour of Lake Geneva (resort town with a beautiful lake walk), Kettle Moraine State Forest (for hiking and mountain biking), Kenosha (and its lakefront museums and trolley), and even Chicago (about 90 minutes to downtown, making a day trip feasible). Want to tour the Milwaukee Brewing Company in the city, then drive down to Six Flags Great America (just over the IL border) the next day? Easy with a rental. Or take a scenic drive up the Ozaukee County lake shore to Port Washington and Cedarburg for quaint downtowns and wineries. A car turns Milwaukee into a hub for regional road trips that would be impractical otherwise.

In short, renting a car in Milwaukee gives you total flexibility you can fully experience the city’s sights, then venture as far as your curiosity takes you, from urban Milwaukee to small-town Wisconsin charm.

Our Milwaukee Car Rental Benefits (What Sets Us Apart)

When you book your Milwaukee rental through AirportVanRental, you’re not just getting a car you’re getting a smooth experience from start to finish, with perks you won’t get by walking up at a counter. Here’s what makes us the go-to choice for Milwaukee car rentals:

• Best Rates in Milwaukee, Guaranteed: City rentals can vary in price, but we scan all the rental companies in Milwaukee to find you the cheapest rates available. By aggregating deals from top brands and local agencies, we ensure you don’t miss hidden discounts. We often have exclusive promos (weekend specials, weekly rates) thanks to our partnerships for example, a special on a Friday-to-Monday rental that others might not advertise. If there’s a lower price out there for the same booking, we’ll match or beat it. Our goal is simple: get you the most bang for your buck on your Milwaukee rental.
• Wide Vehicle Selection: Need a compact car just to run errands or attend meetings downtown? An SUV for a family visit to the Milwaukee County Zoo? A sleek luxury car for a special occasion or client impression? How about a 12-passenger van for that bachelor/bachelorette party or church group outing? We’ve got them all. AirportVanRental specializes in vans, so you’ll see more passenger van options here than many other sites, which is great if you have a big crew. Of course, we list every other category too economy, sedan, crossover, pickup truck, you name it. With so many vehicles in our Milwaukee inventory, you can select exactly what fits your needs and budget.
• No Hidden Fees Total Transparency: With us, what you see is what you pay. Milwaukee rental quotes will include taxes and any mandatory fees upfront. For instance, rentals picked up at MKE Airport include a 11.1% concession recovery fee (charged by the airport) and a small daily facility fee we show these in your quote so it’s clear. If you rent downtown, you mostly just have sales tax ~5.5%. We itemize everything so you’re not surprised at the counter with “Milwaukee” fees you didn’t expect. Also, we don’t add any sneaky booking fees on our end. We believe in honest pricing the price we show when you book is the price you’ll pay, barring any add-ons you choose at the desk.
• Flexible Booking & Payment: Plans change we get it. That’s why most reservations with us require no prepayment. Reserve your vehicle to lock in a great rate and pay when you pick it up. Need to cancel or modify? It’s usually free as long as you do so at least 1–2 days in advance (check your specific booking terms). We also don’t charge any additional young driver or extra driver fees on our booking any such charges come from the rental provider and we’ll make them transparent in the quote. In short, we set you up with all the info, so there are no awkward surprises about fees when you’re at the desk. Rent on your terms keep the booking flexible in case you need to tweak dates or driver details.
• Customer Support & Local Expertise: This isn’t just a website, it’s a full-service experience. Our customer support team is available if you hit any snags or have questions during your rental. Stuck in traffic on I-94 and worried about making your return time? Give us a call we can often coordinate an after-hours drop or extension. Not sure how Milwaukee’s overnight parking rules work, or need advice on the quickest route to the airport during rush hour? We’re happy to share local tips (many of our team members know Milwaukee well). Essentially, you have a travel partner in your corner not just before you book, but through your rental period too. We succeed when you have a smooth, enjoyable Milwaukee visit!
• One-Way Rentals and More: Need to pick up in Milwaukee and drop off somewhere else, like Chicago or Madison? Many of our rental partners allow one-way trips. Just select a different return location in our search. We’ll highlight any one-way fee (if applicable) so you know the cost upfront. This is perfect if you’re planning, say, to fly into Milwaukee, tour Wisconsin, and then fly out of Chicago you can drop the car at O’Hare or downtown Chicago without backtracking (just as an example). Additionally, if you only need a car for part of your Milwaukee stay perhaps you’re staying downtown car-free for a few days, then want a car for a Door County excursion you can easily book for those specific days. With multiple locations and flexible durations (from one-day rentals to multi-week), we make it easy to customize a rental to exactly fit your trip.

In summary, AirportVanRental takes the stress out of renting in Milwaukee. We combine the best selection, best prices, and best support, so you can focus on enjoying the city and the road ahead.

Top Milwaukee Car Rental Deals

Economy Car from $30/day.Example: Toyota Corolla or similar. Perfect for solo travelers or couples staying mostly in the city. Economy and compact cars are easy to park on Milwaukee’s streets and very fuel-efficient for short trips or highway drives to Madison or Chicago. Despite their small size, models like the Corolla can comfortably seat 4 and have modern features. High competition among rental companies in Milwaukee often keeps prices low on these categories, especially outside of peak summer. A thrifty choice to get you from the Milwaukee Public Market to Miller Valley (Miller Brewery tour) and everywhere in between.

Midsize Sedan from $35/day.Example: Nissan Altima or similar. Need a bit more room? A standard/mid-size sedan offers seating for 5 and a larger trunk great if you have extra luggage or a small family. These cars provide a smooth ride on I-94 and I-43, making them ideal for day trips. Plenty of trunk space for shopping hauls (hello, outlet malls) or picnic gear for a day at Grant Park Beach. And the price point is still very budget-friendly. Sedans balance fuel efficiency with comfort, and at roughly $35 a day, they’re a popular pick for general use.

Standard SUV from $45/day.Example: Ford Escape or similar. An SUV gives you higher ground clearance, ample cargo room, and all-wheel-drive on many models a bonus if you’re visiting in winter or plan to venture onto gravel roads in Kettle Moraine. Fits 5 passengers plus luggage comfortably. A smart choice if you’re taking the family to Discovery World and the Milwaukee Zoo, or if you’re heading up to Green Bay for a Packers game (pack the tailgate supplies in the back!). SUVs are very versatile year-round from summer road trips to winter ski outings at Sunburst or Alpine Valley.

Minivan from $55/day.Example: Chrysler Pacifica or Dodge Grand Caravan. Got a larger group or lots of gear? Minivans seat 7–8 and make group travel a breeze. Popular with families and groups of friends, a minivan lets everyone ride together. Imagine touring Milwaukee’s breweries by day and not needing multiple cars, or driving a group to a wedding or reunion. The sliding doors and roomy interior also score points for convenience (no climbing over seats). And if you’re headed to Wisconsin Dells or up north, you can fit suitcases, a cooler, and even a stroller with ease. When you split the cost among passengers, minivans often become cheaper per person than smaller cars.

Luxury/Premium Car from $70/day.Example: BMW 3-Series, Cadillac XTS or similar. Treating yourself or traveling for business? A luxury ride adds comfort and style. Premium sedans and upscale SUVs not only look sharp pulling up to meetings at Milwaukee’s downtown offices, but also make the drive itself a pleasure (think heated leather seats during a cold winter visit, or a panoramic sunroof while cruising by the lake in summer). They often come loaded with tech and safety features too. Considering Milwaukee’s rich heritage (this city knows good living why not drive something nice while you’re here?), a luxury car can enhance that special weekend or important trip. And prices can be surprisingly reasonable, especially on weekends when business demand is low.

(Note: “From” daily rates exclude taxes/fees. Around 5.5% tax applies to city rentals, and about 15–18% total with fees at the airport but our booking quotes show the final price with those included. Prices vary with season and availability. Summer festival weeks or big events might see higher rates due to demand. Conversely, winter and off-peak days can be very affordable. Always search for your exact dates to get the most accurate pricing. Also, consider renting over a weekend Milwaukee often has great weekend rates as business travel dips, meaning you could snag a nicer car for less. We update these deal rates frequently to reflect current specials.)

Driving in Milwaukee: Tips for Visitors

Driving in Milwaukee is relatively easy compared to many major cities the streets are logical, traffic is moderate, and drivers are generally polite. That said, every city has its quirks. Here’s what to know when navigating Milwaukee by car:

• City Layout & Navigation: Milwaukee’s downtown is on a regular grid with east-west and north-south streets. Many streets are numbered (making it simple e.g., 1st Street is near the river, higher numbers go west). North-south streets are numbered away from the east-west dividing line of Greenfield Ave (south) and Pierce/Winnebago (north). It sounds confusing, but your GPS will handle it just note that “N 50th St” and “S 50th St” are different places, for example, because of that divide. Downtown and the Historic Third Ward have some angled roads (due to the river and old layouts), but nothing too wild. The freeways (I-94, I-43, I-41/I-894) encircle and cut through the city, making it quick to jump between areas. Use I-94 East/West to go between downtown and west suburbs/Airport, I-43 for north-south travel (to Green Bay or Beloit), and I-41/894 as a bypass around the west side. Milwaukee has Lake Michigan on its east, so orienting yourself is easy head east till you hit the lake, you know where you are!
• Traffic Conditions: Milwaukee does see rush hour congestion on the freeways. Weekday rush hours are roughly 7:00–9:00 AM and 4:00–6:00 PM. I-94 between downtown and the western burbs (Zoo Interchange area) and I-43 northbound from downtown can slow during those times. Compared to Chicago, it’s mild, but build in maybe 15 extra minutes if traveling across town at peak times. Stadium Traffic: If you’re here during a Brewers baseball game or a major event at Fiserv Forum (downtown arena), expect a pre- and post-event surge. For Brewers games at American Family Field (just west of downtown), I-94 and local streets get busy right around game end maybe plan to either leave a bit early or hang out after and let traffic die down. Milwaukee drivers do tend to drive at or slightly above speed limits on highways (in 70 zones, going 75 is common, but be cautious of state troopers). City streets flow well; only during Summerfest or big festivals might downtown streets get jammed near the venues.
• Parking in Milwaukee: Good news parking in Milwaukee is plentiful and cheaper than in many cities. Downtown has numerous public parking structures and surface lots. Rates are around $3–$4 for 2 hours, or $15–$20 for all-day in prime locations. Street parking downtown and in neighborhoods like the Third Ward or Brady Street is often metered (typically $1–$2 per hour). Always check the signs: most meters are enforced 8 AM to 6 PM Monday-Saturday (Sundays free). Some areas have newer electronic meters where you pay at a kiosk or via an app (the stall number system). Neighborhoods often have 2-hour free parking limits on weekdays for non-residents if you’re parking on a residential street near downtown during the day, watch for signs to avoid a ticket (they do chalk tires). Overnight Parking: Milwaukee requires an overnight parking permit for street parking 2AM–6AM in most of the city (available via city website or call-in, $20/month or $3/night). However, weekend nights (Sat into Sun, Sun into Mon) are usually free and some winter exceptions apply. If you’re staying at an Airbnb or with friends in a residential area, be sure to arrange a permit or find off-street parking. Alternatively, many public garages offer reasonable overnight rates if you’re in the downtown area. During winter, obey any snow emergency rules (park on the odd or even side as the city declares) they actively tow cars that impede plowing.
• Road Etiquette & Safety: Milwaukee drivers are fairly average not overly aggressive, but you’ll encounter the occasional speeder or tailgater on the freeway. Use common sense defensive driving. At four-way stop intersections in neighborhoods, remember the first-come-first-go rule, and wave others on if there’s confusion. Milwaukee has a lot of pedestrians and bicyclists, especially around downtown, East Side, and near university areas. State law mandates yielding to pedestrians in crosswalks, so yield even if they are just stepping off the curb. The city is adding bike lanes on streets like Prospect, Water Street, etc., be mindful of cyclists. Before turning right on red, always check for pedestrians and bikes coming up on your right.
• Notable Local Signs: You might see signs for “Recombobulation Area” at the airport (a Milwaukee joke) not relevant for driving, but fun. More pertinently, you’ll notice “No Turn on Red” signs downtown at some busy intersections heed those. Also, watch for “Winter Parking Regulations” signs in residential areas come November many side streets only allow parking on one side after a big snow or on certain nights for plowing.
• Getting to MKE Airport: Mitchell Airport is about 8–10 miles south of downtown, right off I-94. It’s an easy drive about 15 minutes without traffic, 20–25 in peak times. Just take I-94 East/South from downtown and follow signs for the airport Spur (Exit 318). Give yourself a few extra minutes to refuel (there’s a gas station on Howell Ave near the airport entrance, often used by rental returners). The rental car return at MKE is well-marked (on the airport approach road); most companies are in the same structure.
• Day Trip Driving: If you’re driving from Milwaukee to popular nearby destinations:
• Chicago: It’s about 90 miles to downtown Chicago via I-94. Without traffic ~1.5 hours. With Chicago traffic… plan for 2+ hours. Tolls start once you enter Illinois (see toll info in our FAQ above). Avoid rush hour times around Chicago if possible (or consider taking Amtrak or coach bus to avoid parking hassles in Chicago).

• Madison: ~80 miles west via I-94, around 1.5 hours. No tolls, pleasant drive. Watch your speed in Jefferson County troopers patrol that stretch.

• Green Bay: ~115 miles north via I-43, about 2 hours. Easy drive, and you can swing by Manitowoc or Sheboygan on the way if you like.

• Wisconsin Dells: ~120 miles, 2 hours 15 minutes via I-94 west then I-90/94.

• Lake Geneva: ~50 miles, about 1 hour via I-43.
• Winter Driving Considerations: Milwaukee gets snow, but the city handles it well. Main roads are usually plowed quickly. If you’re here during a snowstorm, give plows room to work don’t crowd them and avoid passing them on the right. Residential side streets can stay snowy longer; a moderate snowfall might mean some slipperiness on lesser-traveled roads for a day. An AWD vehicle can help, but if you only have front-wheel drive, just take it slow and you’ll be fine. Black ice can occur on bridges/overpasses when temps drop, so be cautious overnight and early morning. Keep an ice scraper in the car (the rental should provide one in winter). Clear all your windows of snow/ice before driving it’s illegal to drive with obscured vision (and dangerous). Allow extra following distance on slick roads; Milwaukee drivers, while experienced in snow, can still get into fender-benders if not careful.

Overall, driving in Milwaukee is straightforward. It’s a car-friendly city with less congestion than many urban areas, and having a rental car will make your visit much more convenient. Follow the rules, pay attention to signage, and you’ll get around like a local in no time.

Popular Road Trips from Milwaukee

Milwaukee’s central location by Lake Michigan makes it a perfect launching pad for road trips. Whether you want a quick getaway or a scenic drive, here are three popular road trip ideas starting from Milwaukee:

• Milwaukee to Door County Lakeside Charm & Lighthouses
  Route: Milwaukee ➔ Manitowoc (via I-43 North, stop optional) ➔ Sturgeon Bay ➔ Door County Coastal Byway (Highway 42/57 loop). ~150 miles to Sturgeon Bay (Door County’s gateway); add 50+ miles exploring the peninsula.

Highlights: Head north from Milwaukee on I-43 along Lake Michigan. After about an hour, consider a pit stop in Manitowoc check out the Wisconsin Maritime Museum (with a WWII submarine you can tour) or grab some fresh smoked fish at a lakeside market. Continue another hour to Sturgeon Bay, which welcomes you to Door County. Cross the historic steel bridge into downtown Sturgeon Bay for quaint shops and the Ship Canal lighthouse. From there, drive up the peninsula on Highway 42. Door County is often called the “Cape Cod of the Midwest,” known for its rocky shoreline, charming villages, and fruit orchards. Visit Egg Harbor for boutique shopping and a winery. Stop in Fish Creek to explore Peninsula State Park climb Eagle Bluff Lighthouse or hike with sweeping water views. Ephraim, with its white barns and harbor, offers perhaps the best sunset view in the county. Continue to Sister Bay for the famous goats on the roof of Al Johnson’s Swedish Restaurant! At the very tip of the peninsula, you can take the ferry to Washington Island if time allows (a scenic 30-minute ferry ride). Throughout Door County, you’ll find lighthouses (Cana Island Lighthouse is a must-visit via a short haywagon ride across a causeway), art galleries, and plenty of spots for the local specialty: a fish boil (fresh whitefish cooked over open fire). In fall, this drive lights up with red and gold foliage absolutely stunning. In summer, the Lake Michigan and Green Bay waters moderate the climate, making for a breezy, pleasant road trip.

Pro Tip: Door County is extremely popular in summer and autumn; the roads can get busy on weekends. To avoid traffic along the Door Peninsula, try using Highway 57 (the eastern route) northbound and Highway 42 (western route) southbound to make a loop this distributes the crowds a bit. Also, many shops and restaurants in Door County are seasonal some close in winter or have limited hours, so check ahead if traveling in the off-season (Nov–Apr). If you plan on staying overnight during peak season (July, early October for fall colors), book accommodations well in advance. Lastly, don’t leave without trying Door County cherry pie or visiting an orchard if it’s cherry picking season (July) or apple season (September), a U-pick stop is great fun.

• Milwaukee to Wisconsin Dells (via Madison) City Sights to Waterpark Delights
  Route: Milwaukee ➔ Madison (I-94 West) ➔ Wisconsin Dells (I-90/94 North). ~75 miles Milwaukee to Madison, then ~55 miles Madison to Dells.

Highlights: This road trip packs in Wisconsin’s capital city plus the state’s famous vacationland. First, drive west on I-94 for about 1h 15m to reach Madison, a city uniquely set on an isthmus between two lakes. In Madison, take a break: tour the majestic Wisconsin State Capitol (free tours and an observation deck with great views), or stroll down State Street which links the Capitol to UW-Madison campus you’ll find cafes, shops, and lively vibe especially during the school year. If it’s a Saturday morning in summer, the Dane County Farmers’ Market around the Capitol Square is not to be missed (largest producer-only farmers’ market in the U.S., with amazing baked goods and fresh cheese curds). Grab lunch at a food cart or on the Memorial Union Terrace by Lake Mendota (try some Babcock ice cream, a local treat). After enjoying Madison, hop back in your car and continue on I-90/94 north for about an hour to Wisconsin Dells. The Dells is known as the “Waterpark Capital of the World”, loaded with indoor and outdoor waterparks and amusement attractions. Even if you’re not a thrill-seeker, the natural beauty of the Dells is worth the trip: take a Wisconsin River boat tour to see the stunning sandstone cliffs and rock formations (names like Witches Gulch and Stand Rock, where dogs famously jumped in old photos). There’s also plenty of classic kitsch mini golf, go-karts, fudge shops, and retro motels. Family-friendly options abound: Noah’s Ark (huge waterpark), Mt. Olympus (water and theme park with roller coasters), and numerous smaller themed parks. If parks aren’t your thing, consider visiting the quaint downtown Dells shops or the nearby Mirror Lake State Park for kayaking in a peaceful gorge. For adult fun, there are spas, wineries, and scenic golf courses in the area as well. In the evening, many travelers enjoy the Tommy Bartlett Show (waterski and sky stunt show) or a magic show at the Rick Wilcox Theater.

Pro Tip: The Dells can get very crowded in summer. If you’re doing waterparks, going right when they open or later in the afternoon can shorten your wait times for slides. Many parks offer discounted late-day admission if you arrive a few hours before closing. Parking in the Dells tourist area is generally free in lots or inexpensive; you can park once and walk the main strip. Consider staying overnight to fully enjoy both Madison and the Dells it’s a lot to cover in one day. If making it a multi-day trip, you could reverse the order (drive to the Dells first, then swing through Madison on your way back to Milwaukee). Also, between Madison and the Dells, you’ll pass Baraboo, home to Devil’s Lake State Park (spectacular quartzite bluffs and a popular hiking/swimming spot) and the International Crane Foundation (if you’re into nature, they have every species of crane in the world). These could be bonus stops if time permits. Lastly, pack swimwear even if you don’t plan a waterpark many hotels in the Dells have pools and hot tubs that are nice after a day of touring around.

• Milwaukee to Chicago Two Cities, One Trip
  Route: Milwaukee ➔ Chicago, IL (I-94 South). ~92 miles to downtown Chicago.

Highlights: Milwaukee sits only about an hour and a half north of Chicago, making America’s third-largest city an accessible day trip or overnighter by car. Leave Milwaukee via I-94 South and enjoy an easy drive into Illinois (you’ll skirt along lakefront at some points, and pass Six Flags Great America in Gurnee on the way another optional stop if you have thrill-seekers aboard). Arrive in Chicago and immerse yourself in a completely different urban experience. Must-sees include The Magnificent Mile (Michigan Avenue’s shopping mecca), Millennium Park (snap a selfie with “The Bean” sculpture), an elevator ride up Willis (Sears) Tower or 875 N Michigan (John Hancock Center) for jaw-dropping city views, and the Art Institute of Chicago for world-class art. Take a lakeshore stroll or architecture boat tour on the Chicago River to admire the city’s stunning skyscrapers and historic buildings. Foodie options are endless: try Chicago deep-dish pizza at Lou Malnati’s or Giordano’s, grab an Italian beef or a classic Chicago hot dog (no ketchup!), or explore diverse neighborhoods like Chinatown, Pilsen, or Wicker Park for local flavors. Sports fan? Catch a Cubs game at Wrigley Field on the North Side or a White Sox game on the South Side, depending on season. Culture lover? Chicago’s museums (Field Museum, Shedd Aquarium, Museum of Science & Industry, etc.) could each fill a day. With a car, you can also venture beyond downtown: drive down Lake Shore Drive for fantastic views of Lake Michigan and the skyline, or visit neighborhoods like Lincoln Park (zoo is free!) or Hyde Park (home to the University of Chicago and the Museum of Science & Industry). Keep in mind Chicago is a big, busy city plan your parking (plenty of garages, though pricey, and some street parking with meters or apps in neighborhoods).

Pro Tip:Tolls: As soon as you cross into Illinois, I-94 becomes a tollway (especially if you take the I-294 Tri-State Tollway around the city). Have your rental car’s toll pass activated or prepare to pay online (Illinois has no cash toll booths). To avoid heavy traffic, try to time your drive to avoid Chicago’s rush hours (which are roughly 6–9 AM and 3:30–6:30 PM on weekdays). If you’re spending the day in Chicago, leaving Milwaukee early (7 AM) can get you to Chicago by 8:30–9 AM before things get too congested, and maybe plan to leave Chicago after the evening rush, or post-dinner. Alternatively, park at a suburban Metra train station (like Kenosha or Waukegan) and take the train into downtown Chicago to avoid city driving but with multiple people, driving straight in is often more convenient. Parking in Chicago: It’s expensive downtown ($20–$40 a day in garages). Apps like SpotHero can help you find deals in advance. Be very mindful of street parking signs Chicago loves to tow for rush hour violations on major streets or permit violations in neighborhoods. Once you park, use rideshare or walk/transit to get around downtown to avoid moving the car multiple times. Considering two major cities in one trip is ambitious you might extend to a weekend to do justice to both Milwaukee and Chicago. But it’s certainly doable to sample Chicago’s highlights in a day, then return to the relative calm of Milwaukee in the evening. Many travelers enjoy experiencing the contrasting vibes: Milwaukee’s easy-going Midwestern charm and Chicago’s big-city bustle, all in one vacation.

These road trips show the range of experiences you can have, all starting from Milwaukee from serene nature to big city excitement. With your rental car, you have the freedom to customize each journey. Pack some snacks, queue up a great playlist (perhaps a little “Sweet Home Chicago” followed by some Wisconsin-bred Violent Femmes or Bon Iver), and hit the road!

Wherever you drive, AirportVanRental will be there to support your trip with a reliable vehicle and helpful service. Enjoy your Milwaukee adventures!

Quick-Reference Info Box: Milwaukee Car Rental at a Glance

• Primary Pickup Locations:Milwaukee Mitchell Airport (MKE) largest fleet and often lowest rates; Downtown Milwaukee convenient if you’re staying in the city (locations in the Third Ward or near hotels); plus suburban branches in West Allis, Glendale, Brookfield, etc.
• Average Rental Rates: Around $30–$50 per day for most cars. Economy cars from ~$30/day off-peak; mid-size ~$40/day; SUV/minivan $55–$75/day. Summer months can be higher book early for July/August. Weekend rates in Milwaukee are often attractive (less business demand) sometimes 20-30% cheaper than weekdays.
• Driving Conditions: Urban driving is moderate downtown has some one-way streets but traffic is manageable. Freeways well-marked; watch for “Left Exit” signs (Milwaukee has a few left-side exits). Locals typically drive ~5 mph over posted speeds. Winter requires caution for snow/ice, but roads are maintained and Milwaukee is flat terrain.
• Fuel Costs: Regular gas in Milwaukee is usually a bit below the national average. As of recent check, roughly $3.20/gallon (fluctuates). Gas stations are easy to find throughout the city and suburbs (numerous along major roads and near freeway exits). In downtown proper, stations are fewer there’s one at 6th & Michigan and another at 4th & Juneau, for instance. Plan to fill up in neighborhoods or on the way to the airport for better prices.
• Tolls:None in Wisconsin. If driving south to Illinois (toward Chicago), you’ll encounter tolls on I-94/I-294. Use an I-PASS/E-ZPass if you have one, or opt in to rental’s toll program for convenience. Otherwise, you can pay Illinois tolls online (no cash collection on roads). Milwaukee to Chicago one-way tolls cost roughly $5–$8 total (depending on route).
• Parking:Plentiful and inexpensive compared to major cities. Downtown street meters: ~$1-2/hr (free evenings/Sundays in many areas). Numerous public parking garages ($10-20/day, less at night). Residential streets often free but with 2-hr daytime limits and overnight permit requirement (2–6 AM). Always read street signs alternate side parking rules during winter months and other restrictions are posted. Handicap parking: with a valid placard, you can park at most meters for free in Milwaukee (per city rules).
• Navigation: Milwaukee’s street grid is mostly N-S/E-W with numbered streets on the south and west sides. Downtown has some diagonal bridges/streets near the rivers. A car GPS or smartphone (Google/Apple Maps, etc.) will serve you well traffic updates included. Rush hour congestion can add 10-15 minutes, particularly heading into downtown from the west/south in mornings or out in evenings. Outside rush hours, it’s typically a 15 min drive end-to-end across the city. For real-time local traffic, AM 620 or FM 88.9 sometimes give updates, but your app will likely suffice.
• Roadside Assistance: In an emergency, dial 911 for accidents or serious issues. For vehicle problems, use the 24-hour roadside assistance number provided by your rental company (in your contract or on the key fob). They can assist with towing, flat tires, lockouts, etc. Milwaukee and Wisconsin state patrol also offer motorist aid on highways dialing *55 (star 55) on a cell can connect to State Patrol dispatch in some areas. Additionally, the Freeway Service Team (yellow incident response trucks) patrol main Milwaukee freeways during rush hours to help with disabled vehicles. Rest assured, help is nearby if needed. Of course, our AirportVanRental support line is available too should you need guidance.
• Local Driving Quirks: Milwaukee drivers often flash headlights to signal “go ahead” at 4-way stops or to let you merge a friendly gesture. It’s common courtesy to wave “thanks”. You’ll notice “No Left Turn” signs on some downtown intersections during peak hours to keep traffic flowing heed those to avoid a ticket. And yes, the legend is true: Milwaukee has an alley labeled “No St. (No Street)” but don’t worry, you likely won’t encounter that oddity unless you’re deep in Brewer’s Hill neighborhood trivia. On a more useful note, Milwaukee uses alternate street parking in winter (alternate side by night) if visiting in snowy months and parking on streets, check if a snow emergency is declared (the city website or news will list which side to park on overnight).

Renting a car in Milwaukee is a gateway to an easy and enriching trip the city’s drivable nature and our rental support will ensure you have a smooth ride. Enjoy your time in the 414 (Milwaukee’s area code), and happy travels!