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Best Places to hike in Milwaukee, Minnesota

Milwaukee is a city full of surprises. From its vibrant neighborhoods and world-class museums to its miles of hiking trails, there’s something for everyone in this Midwestern metropolis. If you’re looking for a fun way to explore Milwaukee’s natural side, consider hitting the trails. Whether you’re a seasoned hiker or just getting started, Milwaukee has something to offer everyone.

Here are just a few of the best spots for hiking in Milwaukee and hiking near Milwaukee:

Schlitz Audubon Nature Center

Length of Trail: 6 miles
Cost: Free for members, $8 for Adults, $5 for Ages 3-17, $5 for Active Duty & Veterans
Location: 1111 E. Brown Deer Road, Milwaukee, WI 53217
Phone: (414) 352-2880

Hiking the trails is the best way to experience all Schlitz Audubon offers. With nature hikes, birding trails, wheelchair-accessible trails, and more availability year-round, there’s always something new to discover among their 185 acres of stunning flora and fauna.

Discover majestic birds and incredible views at Schlitz Audubon Nature Center. As an Important Bird Area, their nature preserve is a vital stop for migrating birds. Climb their observation tower for stunning panoramas of the nearby lake and the forest — 60 feet high. Plus, they have wheelchair-accessible walking trails so everyone can enjoy nature.

Estabrook Park’s Oak Leaf Trail

Length of Trail: 8.3 miles
Cost: Free
Location: 4400 N. Estabrook Drive, Glendale, WI 53212
Phone: (414) 257-7275

This Milwaukee County park is home to the WITI TV Tower and the historic Benjamin Church House. With almost 125 acres of land to explore, you’ll never run out of things to do at Estabrook Park.

Whether you’re looking for a challenging hike or a relaxing stroll, Estabrook Park has something for everyone. When you’re done exploring, check out the Oak Leaf Trail — a converted railroad track perfect for biking, walking, or just enjoying the scenery.

Whitnall Park

Length of Trail: 4 miles
Cost: Free
Location: 5879 S 92nd St, Franklin, WI 53132
Phone: (414) 257-7275

Whitnall Park was named for Charles Whitnall, a Milwaukee County Park Commission member from 1907 to 1941. He’s credited with creating the “emerald necklace” of parkways still enjoyed today.

The park is home to botanical gardens, a nature center, a championship golf course, miles of trails, and multiple picnic sites. It’s one of the area’s top locations for birding and wildlife watching.

Havenwoods State Forest

Length of Trail: 6 miles
Cost: Free
Location: 6141 N Hopkins St, Milwaukee, WI 53209
Phone: (414) 527-0232

Havenwoods State Forest is one of the treasures of Milwaukee. Havenwoods has a rich history, from being the Milwaukee County House of Corrections site to a U.S. Army base to Wisconsin’s only urban state forest. This land can tell some stories! You can find stories and pictures from its past inside the nature center.
After that, take a stroll on the six miles of trails and immerse yourself in nature. If you’re feeling ambitious, try crossing the footbridge over Lincoln Creek — or if you’re looking for something more relaxed, enjoy a picnic lunch outdoors.

No matter what you choose, don’t forget to stop and appreciate the beauty around you by listening to birdsong and watching for any wildlife that may be passing through Havenwoods State Forest.

Retzer Nature Center

Length of Trail: 0.75 mile
Cost: Free
Location: S14 W28167 Madison St, Waukesha, WI 53188
Phone: (262) 896-8007

Retzer Nature Center spans 450 acres of picturesque prairie, forest, and wetland habitat in Waukesha. The land was first owned and restored by John and Florence Retzer, who planted over 26,000 trees, shrubs, and flowers during their lifetime. They donated the property to Waukesha County to conserve the natural life for future generations to enjoy.

The initial construction of the nature center took place in 1974. Since then, they’ve added a learning facility, planetarium, and additional walking trails.
Their all-accessible boardwalk is perfect for strolling and taking in the scenery. If you’re more adventurous, explore their restored native prairies or go snowshoeing in winter (you can rent snowshoes on-site). Birdwatching is also a favored pastime for many visitors.

Lapham Peak

Length of Trail: 17 miles
Cost: $8
Location: W329 N846, County Trunk Hwy C, Delafield, WI 53018
Phone: (262) 646-3025

Lapham Peak offers over 17 miles of loop trails in the forest that range in difficulty, allowing you to tailor your hike. Most trails are open to hikers in the summer and cross-country skiers in the winter.

Hikers, snowshoers, and pet owners must take caution to avoid ski trails when they are covered in snow. For those completing designated trails with a pet by their side, leashes cannot exceed eight feet in length.

While observing the many birds and animals native to the forest, hikers might also come across one of the several prairie restoration sites or a butterfly garden!
The observation tower offers breathtaking views of surrounding areas; however, it is essential to note that hiking along cross-country ski trails is strictly off-limits during snowfall. Lastly, all pets must be kept on a leash at eight feet or shorter while on forest grounds.

Kletzsch Park

Length of Trail: 2.20 miles
Cost: Free
Location: 6560 N Milwaukee River Pkwy, Glendale, WI 53209
Phone: (414) 461-0839

Kletzsch Park, found on the western border of Glendale, is teeming with activities. It features hiking trails, an archery area, sand volleyball courts, soccer fields, a frisbee golf course sledding hill, softball diamonds, and an exceptional native plant community.

You can also discover some of the best salmon fishing spots in Milwaukee River, which is also great for canoeing! If you’re looking to host an event, picnic areas and recreation buildings are available for reservation.

Riverside Park

Length of Trail: 1.18 miles
Cost: Free
Location:1500 E Riverside Pl, Milwaukee, WI 53211
Phone: (414) 962-8809

This 12-acre park contains open spaces, wooded areas, and riverside habitats. A bike path runs through the middle of the park where a railroad once existed, offering access to woods and trails on one side, tennis courts, a football field and track, a softball field, and a nature-themed playground on the other. The park also houses the Urban Ecology Center, which offers over 40 programs to twelve local schools.

Riverside Park is the perfect place to meet friends, no matter their interests. The park has plenty of space to socialize and catch up with pals and benches for a leisurely picnic lunch. Children and adults can have fun at the playground or open spaces, and students can get involved in one of the many programs offered by the Urban Ecology Center.

Grant Park

Length of Trail: 1 mile
Cost: Free
Location: 100 Hawthorne Ave, South Milwaukee, WI 53172
Phone: (414) 762-4646

Grant Park in South Milwaukee is a hidden gem along the shore of Lake Michigan. This beautiful park boasts sanded beaches, miles of wooded trails, sports courts, and a golf course. It’s the perfect place to spend a day hiking, biking, swimming, or just relaxing in nature. And because it’s located right on the lake, you’ll also have stunning water views. Grant Park is a must-visit for any traveler to the Milwaukee area.

Doctors Park

Length of Trail: 1.67 miles
Cost: Free
Location: 1870 E Fox Ln, Fox Point, WI 53217
Phone: (414) 352-7502

Doctors Park boasts being one of the best in the Midwest and holds the title for being one of the few rights along Lake Michigan’s shoreline. This premier park doesn’t disappoint visitors with its expansive parking, pristine bathrooms, and multiple picnic areas. The fun doesn’t stop there — the trail begins at the parking lot entryway and offers two different paths to choose from! You can either follow the paved path that takes you down toward the lake on the north side of the parking lot or, if you’re feeling a little more adventurous, aim straight ahead from your car towards the field, then look among trees for the staircase leading directly down to the water’s edge.

You’ll love hiking near Milwaukee along the beautiful shoreline at the lake, with its two main jetties. In winter, massive shelves of ice form along the coastline that can be dangerous but also stunning. Be sure to wear crampons!

Kohler-Andrae State Park

Length of Trail: 6.3 miles
Cost: $5
Location: 1020 Beach Park Ln, Sheboygan, WI 53081
Phone: (920) 451-4080

Kohler-Andrae State Park, which is around 45 minutes from Milwaukee, offers stunning views of Lake Michigan that you can see from its various boardwalk trails. The park is commonly recognized for its dunes, which stand out against the backdrop of the blue waters of the lake.

Visitors can enjoy both the dunes and forests at this park, with seven different trails to hike ranging from 0.25 to 2.5 miles in length.

Menomonee River State Recreation Area

Length of Trail: 3 miles
Cost: Free
Location: Village of Menomonee Falls, W156 N8480 Pilgrim Road, Menomonee Falls, WI 53051
Phone: (262) 532-4200

The recreation area includes 7,652 acres of land in Dickinson and Menominee counties, Michigan, and Marinette County, Wisconsin. Three management units comprise the recreation area: Piers Gorge Unit in the north, Quiver Falls Unit to the south, and Pemene Falls Unit furthest south. Together these units offer 17 miles of undeveloped river corridor featuring both rocky gorges and wide open stretches excellent for whitewater rafting and kayaking — as well as hunting, fishing, and wildlife viewing opportunities.

Hiking trails exist on the Pemene Falls Unit and the Piers Gorge Unit of the property. The Sand Portage hiking trail is located in the Piers Gorge Unit, while hikers can find the Pemene Falls hiking trail in the Pemene Falls unit. Other trails and logging roads throughout the property have not been maintained or designated as official trails.

Although other trails and logging roads are present on the property, they have yet to be maintained or managed as designated trails. The Pemene Falls hiking trail is found in the Pemene Falls Unit of the property, and the Sand Portage Falls hiking trail exists in the Piers Gorge Unit.

Parnell Tower Loop

Length of Trail: 3.5 miles
Cost: Free
Location: 7817 Kettle Moraine Scenic Dr, Plymouth, WI 53073
Phone: (262) 626-2116

Hike up 60 feet to the grand wooden observation tower, where you will photograph the mesmerizing changing leaves from above. As the highest point of elevation in Kettle Moraine State Forest, one can see about 25 miles out in any direction on a clear day!

Before you continue on the figure-eight loop trails, take a minute to enjoy the sweeping view. The Parnell Tower Trail is only 3.5 miles, so it’s perfect for hikers and backpackers already familiar with the area. Plus, there’s the bonus of seeing the tower up close.

Lion’s Gorge Nature Preserve

Length of Trail: 1.8 mile
Cost: Free
Location: 511 High Bluff Dr, Grafton, WI 53024
Phone: (262) 284-8257

Are you seeking breathtaking views of Lake Michigan? Five-story bluffs overlooking the water? Luscious nature scenes as far as the eye can see? Dozens of acres of hiking and exploration trails waiting to be discovered? If so, Lion’s Den Gorge Nature Preserve is where you need to be. Located only 30 minutes north of downtown Milwaukee, this hidden gem is perfect for anyone looking to get away from the hustle and bustle of city life and escape into nature.

Lion’s Den Gorge is a 72-acre nature preserve in Grafton, north of Milwaukee, that features many distinct natural scenes, such as vast bluffs and dunes, woods and bridges over creeks, and hiking trails with lovely views of the Lake Michigan shore.

Other Hiking Spots in and Near Milwaukee

Monches Segment of the Ice Age National Scenic Trail
Nashotah Park
Riveredge Nature Center
Devil’s Lake State Park
Lake Geneva Shore Path

Final Thoughts

Milwaukee is a city full of hidden gems, and its hiking trails are no exception. Whether you’re looking for a challenging hike with beautiful views or a leisurely stroll through nature, these destinations have something for everyone. So lace up your shoes and get ready to explore some of the best Milwaukee offers. Be sure to check out our other posts for more ideas on things to do in Milwaukee, and bookmark State Travel Guides to discover even more featured hiking destinations.