20 Best Hiking Trails in Milwaukee

135 miles total

The Oak Leaf Trail is Milwaukee's crown jewel—a 135-mile paved multi-use trail system that encircles the entire county. This interconnected network connects all major parks in the Milwaukee County Park System, from lakefront beaches to river parkways to wooded nature preserves. More than half a million users explore these paths annually, making it one of the most beloved trail systems in the Midwest.

Parking: Free parking at numerous trailheads including Veterans Park, Lake Park, and South Shore Park

Multiple access points throughout Milwaukee County

2 miles loop

Seven Bridges Trail is Milwaukee's most magical hiking experience. This historic WPA-era trail winds through a dramatic ravine on Lannon stone paths and staircases, crossing more than ten footbridges (despite its name) through an old-growth beech forest. The trail emerges onto the Lake Michigan shoreline for breathtaking views. Established in the 1920s and 30s with help from over 200 CCC workers, this trail feels like stepping into another world.

Parking: Free parking at Grant Park. Use the Seven Bridges trailhead lot near Wulff Lodge.

100 E Hawthorne Ave, South Milwaukee, WI 53172

6 miles of trails

Schlitz Audubon offers six miles of trails through 185 acres of diverse habitats including forests, wetlands, restored prairies, ravines, bluffs, and Lake Michigan shoreline. The 60-foot observation tower provides panoramic views of the lake and surrounding woodlands. This environmental education center is a haven for birdwatchers and nature enthusiasts seeking a true wilderness experience within the metro area.

Parking: On-site parking. Admission: $8 adults, $5 ages 3-17, free for members. Trails open 8:30am-5:00pm.

1111 E Brown Deer Rd, Milwaukee, WI 53217

5+ miles of trails

Wehr Nature Center features over five miles of nature trails through woodland, wetland, prairie, and oak savanna on 220 protected acres within Whitnall Park. The Lake Loop trail follows Mallard Lake's shoreline to a beautiful waterfall flowing into the Root River. The 1-mile All Abilities loop trail with boardwalk makes this accessible to visitors of all mobility levels.

Parking: Free parking. Visitor Center open 8:30am-4:30pm daily. Parking lot locked 5pm-8am October through January.

9701 W College Ave, Franklin, WI 53132

3+ miles of trails

Lake Park is a 138-acre Frederick Law Olmsted-designed masterpiece sitting on a mile-long bluff overlooking Lake Michigan. One of Milwaukee's first parks features winding trails through open meadows, wilder undergrowth, and dramatic ravines with intermittent streams. The North Point Lighthouse offers 84 steps to climb for spectacular views, and the Lake Park Waterfall (a restored WPA project) is a hidden gem.

Parking: Free street parking and small lots throughout the park. Lake Park Bistro offers dining.

3233 E Kenwood Blvd, Milwaukee, WI 53211

2.4 miles loop

South Shore Park offers a stunning 2.4-mile lakefront loop with sweeping views of Lake Michigan and the downtown skyline. The paved trail connects to the larger Oak Leaf Trail system and passes through several parks including Cupertino Park, Sheridan Park, and Warnimont Park. The park features a marina, beach, and pavilion, making it perfect for a full day outdoors.

Parking: Free parking lot at South Shore Drive and Russell Avenue.

2900 S Shore Dr, Milwaukee, WI 53207

2.4 miles

Lakeshore State Park is a 22-acre urban oasis in the heart of downtown Milwaukee, adjacent to the Summerfest grounds and Discovery World. The accessible paved trails connect to both the Hank Aaron State Trail and Oak Leaf Trail, offering views of the Milwaukee skyline, harbor, and Lake Michigan. A small beach provides waterfront access, and the park is perfect for a quick nature break during downtown activities.

Parking: Metered parking nearby. Access from Discovery World or Summerfest grounds.

500 N Harbor Dr, Milwaukee, WI 53202

0.8 miles loop

Doctors Park delivers a secluded pebble beach, WPA-era stone jetties, and one of Milwaukee County's most scenic ravine hikes—all free of charge. The 55-acre park sits on Lake Michigan bluffs with trails descending through deep shade to the shoreline. The south-side ravine trail is particularly atmospheric, threading through forest before emerging at historic stone jetties perfect for photography.

Parking: Free parking at bluff-top lot. Approximately 50 stairs down to shoreline.

1870 E Fox Ln, Fox Point, WI 53217

2 miles one-way

This section of the Oak Leaf Trail connects Milwaukee's most beloved lakefront destinations. Starting at the Milwaukee Art Museum, the path follows the shoreline through Veterans Park, McKinley Park (home to Milwaukee's only public marina), and Bradford Beach—America's most accessible beach. The route ends at Lake Park and the North Point Lighthouse.

Parking: Paid parking at Bradford Beach and Veterans Park lots. Free street parking on Lincoln Memorial Drive.

2400 N Lincoln Memorial Dr, Milwaukee, WI 53211

6+ miles of trails

Havenwoods is Wisconsin's only urban state forest, featuring 237 acres of grasslands, woods, and wetlands within city limits. Over six miles of trails include a 2.5-mile crushed limestone main path perfect for all abilities, plus grass trails for exploration. Four ponds, a 120-foot bridge, and abundant wildlife make this a true nature escape without leaving Milwaukee.

Parking: Free parking. Open 6am-8pm daily. No admission fee.

6141 N Hopkins St, Milwaukee, WI 53209

2+ miles of trails

Riverside Park, enhanced by the Urban Ecology Center, offers urban forest trails along the Milwaukee River. The center provides environmental education and outdoor programs while maintaining trails through restored natural areas. The park connects to the Oak Leaf Trail and features both paved and natural surface paths perfect for discovering wildlife in the heart of the city.

Parking: Free parking. Urban Ecology Center open for equipment borrowing and programs.

1500 E Park Pl, Milwaukee, WI 53211

5+ miles of trails

Whitnall Park is the largest park in the Milwaukee County system, encompassing botanical gardens, nature center, golf course, and miles of diverse trails. The park is a top birding destination with trails winding through woodland, wetland, prairie, and oak savanna. Mountain bikers can tackle the 4-mile Kegel Alpha Trail with steep and rocky segments.

Parking: Free parking throughout the park. Multiple trailheads available.

5879 S 92nd St, Hales Corners, WI 53130

9 miles of trails

The Menomonee River Parkway stretches approximately 9 miles along the Menomonee River through two sections of greenway. The 4.5-mile loop trail (4.3-star rating) combines wide paved paths with grassy single-track trails running alongside the river. Unpaved trails are foot-traffic only, providing a more natural hiking experience.

Parking: Free parking at multiple access points. Dogs allowed on leash.

Multiple access points along Menomonee River

1.8-7.8 miles options

Estabrook Park offers multiple trail options along the Milwaukee River, from the easy 1.8-mile loop to the 7.8-mile Milwaukee River Trail connecting to Caesar's Park. The park features mature hardwood forest, river views, and connections to the Oak Leaf Trail system. A beer garden with live music provides the perfect post-hike reward.

Parking: Free parking. Park open 6am-10pm.

4400 N Estabrook Dr, Milwaukee, WI 53211

3+ miles of trails

Kletzsch Park spans 141 acres along the Milwaukee River with hiking trails winding through grasslands, oak-maple woodlands, and floodplain forest. Part of the Forked Aster Trail System, the park offers both paved Oak Leaf Trail sections and natural surface paths. The River Glen Mountain Bike Trail adds variety for more adventurous visitors.

Parking: Free parking. Open 6am-10pm.

6560 N Milwaukee River Pkwy, Glendale, WI 53217

1.5 miles

Within Lake Park, the ravine trails offer a wilder hiking experience through dramatic glacial ravines with intermittent streams. The Locust Street and Waterfall ravines are among Milwaukee's most distinctive natural features. These unpaved paths feel worlds away from the city while remaining easily accessible from the East Side neighborhoods.

Parking: Free street parking and small lots throughout Lake Park.

3233 E Kenwood Blvd, Milwaukee, WI 53211

1.5 miles

Three Bridges Park represents Milwaukee's urban renewal success, transforming former industrial land into a vibrant green space along the Menomonee River. The park features paved trails, native plantings, and stunning views of three historic railroad bridges. Connected to the Hank Aaron State Trail, it's a perfect introduction to Milwaukee's growing trail network.

Parking: Free parking on Canal Street. Easy access from Hank Aaron State Trail.

1500 W Canal St, Milwaukee, WI 53233

17+ miles of trails

Lapham Peak is the single best hiking destination within 30 minutes of Milwaukee. The park features over 17 miles of trails ranging from easy to moderate, including a segment of the Ice Age National Scenic Trail. The 45-foot observation tower atop the highest point in Waukesha County (1,233 feet) offers panoramic views. A butterfly garden and three picnic areas enhance the experience.

Parking: Vehicle admission sticker required. Park open 6am-9pm year-round.

W329 N846 County Rd C, Delafield, WI 53018

100+ miles of trails

The Southern Unit of Kettle Moraine State Forest covers over 22,000 acres of forested glacial hills, kettle lakes, and prairies with more than 100 miles of hiking, mountain biking, and horseback riding trails. Part of the Ice Age Trail passes through, following the path of the last continental glacier. The varied terrain offers challenges for all skill levels.

Parking: State park vehicle admission sticker required. Multiple trailheads throughout the forest.

S91 W39091 WI-59, Eagle, WI 53119

7 miles one-way

The Holy Hill segment of the Ice Age Trail meanders nearly seven miles through the northern Kettle Moraine State Forest to the iconic Holy Hill Basilica, perched atop one of Wisconsin's tallest kames. The 4.7-star rated trail (1,223 reviews) offers well-maintained paths with gradual inclines through beautiful hardwood forest. The basilica's scenic tower is open seasonally for additional views.

Parking: Free parking at Holy Hill. Ice Age Trail parking at Donegal Road trailhead.

1525 Carmel Rd, Hubertus, WI 53033

6.4 miles out-and-back

The Delafield segment of the Ice Age Trail offers a scenic 6.4-mile out-and-back hike through one of Wisconsin's official Ice Age Trail Communities. For 3/4 mile, the trail coincides with the Wisconsin Veterans Memorial Riverwalk along the Bark River. The well-maintained path is accessible April through October and provides a taste of the 1,000-mile national scenic trail.

Parking: Free parking in downtown Delafield. Trail accessible year-round.

Wisconsin Veterans Memorial Riverwalk, Delafield, WI

What is the best hiking trail in Milwaukee?

The Oak Leaf Trail is Milwaukee's premier trail system with 135 miles connecting all major parks. For a single hike, Seven Bridges Trail in Grant Park offers the most magical experience with historic Lannon stone paths, 10+ footbridges, and Lake Michigan views. Schlitz Audubon Nature Center provides the best nature preserve experience with 6 miles of trails and a 60-foot observation tower.

Are Milwaukee hiking trails free?

Most Milwaukee hiking trails are completely free, including the Oak Leaf Trail, Seven Bridges Trail, all Milwaukee County parks, Havenwoods State Forest, and Lakeshore State Park. Some nature centers charge admission: Schlitz Audubon ($8 adults, $5 children) and state parks like Lapham Peak require a vehicle admission sticker ($8 daily or $28 annual for Wisconsin residents).

What is the Oak Leaf Trail Milwaukee?

The Oak Leaf Trail is a 135-mile paved multi-use recreational trail system that encircles Milwaukee County. It connects all major parks in the county system, from lakefront beaches to river parkways. The trail is divided into scenic segments including the Lake Park Loop, South Shore Line, and Whitnall Park Loop. Over half a million people use the trails annually for hiking, biking, and running.

Where can I hike along Lake Michigan in Milwaukee?

The best lakefront hiking includes: Lake Park with its dramatic ravines and North Point Lighthouse, Bradford Beach to Veterans Park along the Oak Leaf Trail, South Shore Park's 2.4-mile loop with skyline views, Doctors Park with its secluded beach and WPA-era stone jetties, Schlitz Audubon Nature Center's bluff trails, and Lakeshore State Park in downtown Milwaukee.

What hiking trails are near Milwaukee within 30 minutes?

Within 30 minutes of downtown Milwaukee: Lapham Peak State Park (25 miles west) offers 17+ miles of trails and an observation tower, the Ice Age Trail Delafield Segment provides 6.4 miles along the Bark River, Kettle Moraine State Forest Southern Unit has 100+ miles of trails, and Holy Hill (45 minutes) features the scenic Ice Age Trail segment to the historic basilica.