How to Plan A Dog-Friendly Trip to Milwaukee

By Jennifer Posh
VISIT Milwaukee

Do you hate the idea of leaving your dog behind while you’re off on vacation? Now you don’t have to! There’s no reason man’s best friend can’t also be man’s best travel companion when you visit a dog-friendly city like Milwaukee.

Every dog will love the miles of urban green space provided by more than 150 state and county parks, and thanks to a wide variety of dog-friendly accommodations, restaurants, bars and more, you and your four-legged friend will both have a great time!

Check out some ideas below to start planning your pet-friendly trip:

The Iron Horse Hotel

This industrial chic hotel knows how to roll out the red carpet for Rover, as well as human guests.

Dogs of all sizes are welcome to explore the hotel (leashed), and take advantage of the complimentary treats and water dish in the lobby. You can even order off the doggy in-room dining menu! 

(Looking for more pet-friendly accommodations in Milwaukee? Search for a pet-friendly hotel here!)


Named on of Fodor’s “Top 10 Roof to Table Restaurants,” Braise serves farm (and roof!) to table food sourced from local farmers and their own garden. You and your dog can enjoy the sidewalk patio seating at this restaurant where everything from baking bread to butchering meat is done in house.


Located right on the lakefront, this old-fashioned snack shack is the perfect stop to fuel up after a long walk or run with your pooch through the parks and trails along Lake Michigan. Grab a burger, shake or that classic Milwaukee treat: frozen custard.

Milwaukee Boat Line

Set on the lakefront of Lake Michigan with the Milwaukee River weaving through downtown, a scenic river cruise is one of the best ways to see Milwaukee. You don’t have to see it alone when you ride with Milwaukee Boat Line; leashed pets are welcome on their public cruises.

Harbor House

You’ll find the most stunning views of Milwaukee’s lakefront and the city skyline from this New England-style seafood restaurant serving up some of the best steaks and seafood in town. With a view like this, you’d probably want to take a seat on the patio anyway and, as luck would have it, your pup is free to join you there.

Purple Door Ice Cream

This artisan ice cream shop offers inventive flavors like strawberry basil, whiskey and black pepper alongside old favorites. If you can’t decide on just one scoop, try a flight of ice cream! Your pooch can cool off, too, with a water dish right outside.

Regano’s Roman Coin

Located on Brady Street, a popular thoroughfare for nightlife and shopping, you and your dog can both belly up to the bar in this historic corner tavern. That’s right – dogs are welcome inside!

Summer Concerts

Milwaukee’s thriving summer concert season is a delight to locals and visitors alike – on two legs and on four! Once the weather gets warmer, you’ll find free outdoor concerts in local parks almost every night of the week, and many of them are happy to welcome furry friends.

Don’t forget to pack the doggy bed – your pup will need a chance to rest after a jam-packed weekend of pet-friendly fun in Milwaukee!


Looking for more dog-friendly fun in Wisconsin's largest city? Find more information at VISIT Milwaukee!

This entry was posted in Tours Hotels & Motels Restaurants