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United States
Wisconsin

Milwaukee County

The best city hikes and walks in Milwaukee County

4.3

(18)

394

hikers

49

hikes

Urban hiking trails in Milwaukee County feature a diverse landscape shaped by Lake Michigan, several river systems, and varied natural areas. The region includes extensive shoreline paths, greenways along the Milwaukee, Menomonee, and Kinnickinnic Rivers, and pockets of woodlands, wetlands, and prairies. Glacial activity has also contributed to the varied topography, offering a range of environments for urban exploration.

Best urban hiking trails in Milwaukee County

  • The most popular urban hiking route is Oak Leaf Trail: River and Lake Loop

Last updated: April 24, 2026

13

hikers

#1.

South Shore Park Trail

4.69km

01:12

20m

20m

Hike the easy 2.9-mile South Shore Park Trail in Milwaukee for scenic views of Lake Michigan and the city skyline, perfect for families.

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Easy

Hike the easy 1.7-mile Milwaukee Pierhead Lighthouse via North River Walkway for scenic views of Lake Michigan and the city skyline.

Easy
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1

hikers

3.04km

00:47

20m

20m

Enjoy an easy 1.9-mile hike around Scout Lake in Milwaukee County, Wisconsin, with minimal elevation gain, perfect for a quick outdoor escap

Easy

40.8km

10:31

180m

210m

Hike the 25.4-mile Hank Aaron State Trail in Milwaukee, a difficult route with 594 feet of elevation gain, blending urban and natural scener

Hard

Embark on the Oak Leaf Trail: River and Lake Loop for a moderate hike that blends urban and natural scenery. This route covers 9.6 miles (15.5 km) with a gentle…

Moderate
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Popular around Milwaukee County

City hikes around Milwaukee

City hikes in Havenwoods State Forest

City hikes around Wauwatosa

Tips from the Community

Grant Gehweiler
July 17, 2025, Shorewood Railroad Pedestrian Bridge

Adjacent to the bridge is a historical marker that commemorates the commuter line and the old 400 passenger train that formerly to crossed a bridge here.

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The Hank Aaron State Trail runs alongside the Menomonee River, and at this point, you can access a viewpoint with nice views of the river and the small greenbelt surrounding it.

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This small pond is located in Three Bridges Park. It’s an easy short detour while cycling the Hank Aaron State Trail, offering a nice spot to take a break by the water.

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Nice view of downtown and South Shore Marina. Beer Garden and playground nearby.

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Take a short break during your ride and enjoy sweeping views of Lake Michigan with a fresh breeze.

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The perfect stop for a spot during your ride, Hubbard Park Beer Garden offers a charming riverside setting with a variety of local and imported beers, complemented by a menu featuring German-inspired dishes like brats, hot dogs, and pretzels.

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Matthew
February 24, 2024, Veterans Park Lagoon

Veterans Park Lagoon is a 14-acre reservoir within the greater Veterans Park. Some paved paths circle around the water, and there is plenty of green space and picnic areas.

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Matthew
February 24, 2024, Veterans Park Lagoon

Veterans Park Lagoon is a 14-acre reservoir within the greater Veterans Park. Some paved paths circle around the water, and there is plenty of green space and picnic areas.

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Frequently Asked Questions

How many urban hiking trails are available in Milwaukee County?

Milwaukee County offers nearly 50 urban hiking routes, ranging from easy strolls to more challenging treks. The majority, about 35, are rated as easy, making them accessible for most walkers.

What kind of natural features can I expect to see on urban hikes in Milwaukee County?

Urban hikes in Milwaukee County often feature a blend of natural and cityscapes. You'll find trails along the expansive Lake Michigan shoreline, winding river systems like the Milwaukee River, and through diverse habitats including woodlands, wetlands, and prairies. Many routes offer serene lake views, greenways, and opportunities for birding.

Are there any family-friendly urban hiking options in Milwaukee County?

Yes, Milwaukee County has many family-friendly urban trails. The Scout Lake Loop is an easy option, perfect for a leisurely family walk. Additionally, parks like Grant Park and Wehr Nature Center offer trails suitable for various ages and abilities, with some even featuring accessible boardwalks. For more ideas on family outdoor fun, you can visit visitmilwaukee.org.

Which urban trails are suitable for dog walking in Milwaukee County?

Many urban trails in Milwaukee County are dog-friendly, provided your pet is on a leash. The extensive Oak Leaf Trail system, which spans over 135 miles, is a popular choice for dog walkers. Always check local park regulations before heading out, as specific areas might have restrictions.

What are some notable landmarks or points of interest along urban hiking routes?

You'll find several interesting landmarks and attractions. The Milwaukee Pierhead Lighthouse is a prominent feature, accessible via routes like the Milwaukee Pierhead Lighthouse via North River Walkway. Other highlights include the historic Hoyt Park Footbridge, and various beaches like Bradford Beach and Pebble Beach, offering scenic views of Lake Michigan.

Are there any long-distance urban hiking trails in Milwaukee County?

Yes, for those seeking longer urban hikes, the Hank Aaron State Trail offers a significant distance, stretching over 40 kilometers. Another excellent option is the Oak Leaf Trail: River and Lake Loop, which covers over 15 kilometers and provides varied scenery.

What is the best time of year for urban hiking in Milwaukee County?

Spring, summer, and fall generally offer the most pleasant conditions for urban hiking in Milwaukee County. Spring brings blooming wildflowers, summer provides lush greenery and warm weather for lakeside walks, and fall showcases vibrant foliage. While winter hiking is possible, be prepared for colder temperatures and potential snow or ice on trails.

Can I find circular urban hiking routes in Milwaukee County?

Yes, many urban trails in Milwaukee County are designed as loops, offering convenient circular routes. The Scout Lake Loop is a great example of an easy circular hike. The extensive Oak Leaf Trail system also features numerous sections that can be combined to create various loop configurations, allowing you to start and end at the same point.

How accessible are urban hiking trails in Milwaukee County by public transport?

Milwaukee County's urban trails are generally well-integrated with the city's public transport network. Many trailheads and park entrances are accessible via Milwaukee County Transit System (MCTS) bus routes. For specific route planning, it's best to check the MCTS website or a mapping app for the most current information on bus stops near your desired trail.

What do other hikers enjoy most about urban hiking in Milwaukee County?

The komoot community highly rates urban hiking in Milwaukee County, with an average score of 4.4 stars. Reviewers often praise the diverse scenery, from the stunning Lake Michigan shoreline to peaceful river paths and green parklands. The accessibility of trails within an urban setting and the well-maintained paths are also frequently highlighted.

Are there any urban trails that offer views of Lake Michigan?

Absolutely! A significant portion of Milwaukee County's trail network, including parts of the Oak Leaf Trail, hugs the Lake Michigan shoreline. Routes like the South Shore Park Trail offer continuous lake views. Parks such as Lakeshore State Park and Grant Park also provide picturesque vistas of the lake and city skyline.

Most popular routes in Milwaukee County

Hiking in Milwaukee County

Most popular attractions in Milwaukee County

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