9 Amazing Wisconsin Day Trips That Are Worth The Drive

Wisconsin rewards a full tank of gas and a free Saturday. Cave of the Mounds and the Wisconsin Dells make easy day-trip destinations, while the state capital, Madison, packs enough into its lakeside downtown to fill a day or a weekend. The nine trips below all sit within two or three hours' drive of Milwaukee, and several are much closer. Here is where to point the car.

Cave of the Mounds (1 hour, 39 minutes)

Just a little over an hour and a half's drive from Milwaukee lies the Cave of the Mounds, one of the best-kept geological secrets in Wisconsin. These natural limestone cave formations are some of the oldest in the Midwest, and include underground "rooms" up to two stories tall. Guests should be sure to look into the different varieties of tours available at Cave of the Mounds, including the historically-inspired Lantern Tour and the vivid, colorful fun of the Blacklight Tour. Remember, the caves are cool year-round, so visitors in the summer should consider bringing a light jacket.

Cedarburg (26 minutes)

Less than half an hour outside Milwaukee, Cedarburg trades the big-city pace for a preserved 19th-century downtown of limestone mills and frame storefronts. The shops and restaurants along Washington Avenue draw weekend browsers, but the cultural stops are the real reason to make the drive. The Wisconsin Museum of Quilts and Fiber Arts holds a permanent collection and puts on annual quilt shows, and the Cedarburg Art Museum, in a restored 1890s mansion, is devoted to Wisconsin artists. For refreshments, there is Cedar Creek Winery, set inside a Civil War-era woolen mill, where staff pour tasting flights of local Wisconsin wines.

Devil's Lake State Park (1 hour, 56 minutes)

Roughly two hours' drive from Milwaukee lies Devil's Lake State Park, in Sauk County. This is the home of some of Wisconsin's most magnificent views, courtesy of the 500-foot quartzite bluffs that overlook the lake itself. Visitors to the park can hike over twenty miles of trails, or kick back and relax at one of the lakeside picnic areas, taking a pause for a dip in the lake. Be sure to visit the onsite Nature Center, where visitors can plan their visit, meet some local Wisconsin wildlife in terrariums, learn about the geology of the park, and even borrow a free pair of snowshoes during a winter visit.

House on the Rock (2 hours, 10 minutes)

One of the most famous and strangest tourist attractions in Wisconsin, and possibly in the whole United States, the House on the Rock is so much more than its name would suggest. Opened by Alex Jordan in 1960, what began as a clifftop dream house filled with stained glass and windows taking advantage of the lofty view has expanded to include the Streets of Yesterday exhibit, the enormous vintage-style Carousel, and the Circus Room with an automated brass band, among others. Today, the House on the Rock is also home to a golf course and resort, for outdoor activities, plus dining options.

Lake Geneva (53 minutes)

Off to see the wizard? The Wizard of Lake Geneva, that is, better known as Gary Gygax, a Lake Geneva local who co-created "Dungeons and Dragons." Visitors can learn all about Gygax and see some pieces of D&D history at the Geneva Lake Museum, a must-see for avid D&D players and home to a range of local history exhibits besides. On the other hand, a Lake Geneva day trip can be an outdoor event. Start at the lakeside beaches. Chicago's wealthy turned this shoreline into a Gilded Age resort, and visitors today can swim and sunbathe before a meal at one of the many restaurants in town.

Madison (1 hour, 28 minutes)

The state capital, as well as the home of the University of Wisconsin, Madison, is a well-known city in its own right and is full of activities to enjoy on a day trip. Wander through the free-to-visit Olbrich Botanical Gardens before picking up something tasty from the Dane County Farmer's Market, which is open Wednesday and Saturdays with hundreds of vendors selling local produce, plus prepared food and drink. Or, visit the free Henry Vilas Zoo, home to lions and tigers, a reptile-filled Discovery Center and Herpetarium, and an Arctic Passage with seals, grizzlies, and polar bears.

Sheboygan (56 minutes)

Another great day trip, just under an hour away from Milwaukee, Sheboygan is the county seat of Sheboygan County, and sits on the shore of Lake Michigan. Sheboygan is a great day trip option for families with children, as it's full of attractions for all ages. For instance, Bookworm Gardens is a botanical garden inspired by classics of children's literature, open between May and October, with a regular calendar of themed events and guided tours for visitors of all ages. Or, head for the lakeside beaches, where cold-season swells off Lake Michigan have earned Sheboygan a reputation for freshwater surfing, before grabbing a bratwurst at one of the many restaurants frying (and definitely not grilling) them in the "Brat Capital of the World."

Taliesin (2 hours, 5 minutes)

For anyone drawn to architecture and design history, Taliesin, the home and studio of Frank Lloyd Wright, ranks among Wisconsin's essential stops. The home, studio, and gardens spread across 800 acres, so there is plenty to explore over the course of a day. Tours of the house and studio come in accessible and private formats. The property's Hillside Theater is the venue for classic films and educational presentations, and the on-site cafe has comfort-food classics on the menu, with valley views from the tables. Wright's foundation also runs regular overnight workshops on the estate for visitors who want a deeper immersion.

Wisconsin Dells (1 hour, 52 minutes)

For family fun for a day, it's hard to beat the Wisconsin Dells. This resort town, located just under two hours from Milwaukee, is famous for its water parks and family-friendly amusements. Favorite spots include Noah's Ark Waterpark, famous for its twisting, turning waterslides, and Timbavati Wildlife Park, home to lions, giraffes, and other creatures. Guests at Timbavati can feed the giraffes, camels, and kangaroos, or even book close-up animal encounters with the park's sloths or red pandas. Afterward, have a meal at The Del-Bar, an award-winning supper club known for steaks, seafood, and old-fashioned ice cream cocktails, in business for over 75 years.

Planning Your Day Out

The range here is the point. Cave of the Mounds and Devil's Lake reward anyone after limestone and quartzite bluffs, House on the Rock and Taliesin sit within minutes of each other for a design-minded day near Spring Green, and the Wisconsin Dells and Sheboygan suit families with restless kids. Chicago is an easy hop across the Illinois line, but the drives above prove the case for staying put. Most of these trips run under two hours from Milwaukee, which leaves the better part of the day for the destination itself.