Milwaukee may be considered a “small” city compared to its neighbor to the south, but it has an outsized amount to offer when it comes to culture, food, and entertainment. Known as the nation’s “Beer City”, Milwaukee is famous for its brewery tours and beer gardens — but that’s only the beginning. You’ll also find world-class art, fascinating history, music venues, lakefront parks, and even a bustling zoo.
In this guide, we’ll look at five of the most accessible highlights — complete with parking tips and food recommendations. Milwaukee makes an easy day trip or weekend escape with just a short 90 minute drive north from Chicago— and pairing your visit with our Chicagoland accessible van rentals ensures that the journey is every bit as comfortable and stress-free as the destination.
Set prominently along Lake Michigan, the Milwaukee Art Museum is renowned not just for its dynamic art collection but also for its striking architecture. The Quadracci Pavilion, designed by Santiago Calatrava, features a 217-foot movable “wing” that opens and closes every day at noon. This iconic marvel is visible even from afar.
As Wisconsin’s largest art museum, it houses more than 34,000 works spanning antiquity to contemporary art—featuring European masterpieces, folk and self-taught art, and one of the largest collections of Georgia O’Keeffe paintings in the U.S. In addition, the museum includes significant pieces from Monet, Picasso, and Warhol in the permanent collection, while also exhibiting the work of important contemporary artists each season.
All levels of the museum are accessible via elevators. The galleries are wide open and easy to navigate with accessible restrooms throughout the building. Although the museum does not specifically list sensory tools on its website, the spacious design and clear layout generally provide a tranquil environment.
Accessible parking is available in the underground parking garage with elevator access right into the museum. The entrance to this garage is located on Lincoln Memorial Drive.
For lunch, we recommend eating at Café Calatrava inside the museum — the café is accessible and offers stunning lake views. For something nearby, Harbor House is a beautiful, accessible seafood spot with wide aisles and lakeside seating.
If you would like some time outside after your visit to the museum, there are wheelchair accessible entrances to both the Oak Leaf Trail and Lakeshore State Park paths for an accessible lakefront stroll.
Situated along the Menomonee River in Milwaukee’s Menomonee Valley, the Harley‑Davidson Museum spans 130,000 square feet across a scenic 20-acre campus. It showcases over 450 motorcycles and thousands of artifacts tracing the company’s history from its founding in 1903 to today’s iconic brand culture. The museum blends immersive storytelling with thoughtful design, making it accessible, engaging, and inclusive. It’s an excellent stop on a Milwaukee itinerary when traveling with one of our Chicagoland accessible van rentals.
The museum features wide, open galleries and paved paths throughout the grounds to ensure ease of movement. Exhibitions span two floors, with elevator access to both levels. Visitors can engage with interactive touch-screen displays in galleries like the Engine Room. There are several motorcycles on display that visitors can sit atop for those who are able to do so with family assistance.
The museum is fully wheelchair accessible and welcomes wheelchairs, power chairs, and mobility scooters. Service animals are also permitted. All shows and presentations include wheelchair seating. Handicapped parking stalls are conveniently located close to the entrances throughout the museum grounds, with free parking available for approximately 500 cars.
For lunch, we recommend the MOTOR® Bar & Restaurant, which provides accessible riverfront dining with genuine Harley‑Davidson flair. The menu includes BBQ, burgers and local beer.
You’ll also find easy access to retail therapy with both the Harley‑Davidson Shop® and H‑D® Factory Outlet located on site!
The Vista King cruise combines leisurely sightseeing with city charm. For a shorter trip to Milwaukee, this tour is certainly a lovely thing to do on its own or it can easily be built in as a scenic interlude to a longer trip. The Vista King provides a delightful view of Milwaukee’s skyline, lakefront, and river scenes.
Please be aware that among the Milwaukee Boat Line’s vessels, only the Vista King is wheelchair accessible. It is a double-decker tour boat so it is only partially accessible; the upper deck requires stairs and isn’t accessible. Likewise, the restrooms onboard are compact and therefore, not fully ADA-compliant in size. However, we are still including the tour on our list as a way that your wheelchair using family member can experience the joy of being “on the water”.
The spacious lower deck is accessible and ensures easy movement throughout the space for wheelchairs.This deck is enclosed, allowing an ideal experience regardless of weather. The experience blends gentle motion, panoramic views, and an easygoing social atmosphere. In addition, the Vista King’s sunset or happy hour tours can add another layer of interest to your time on board.
Refreshments can be found on board in the lower deck’s salon which includes wrap-around windows for scenic visibility, a full-service bar (beer, liquor, non-alcoholic drinks), snacks, and classic Milwaukee fare like brats and hot dogs.
The Vista King departs from the dock located at 1124 N Dr. Martin Luther King Jr Drive in downtown Milwaukee. The closest parking is at a public lot located at 518 N Plankinton Avenue just steps from the dock.
To ensure ease of arrival and minimal walking distance, we recommend reserving an accessible parking spot at a nearby parking garage in advance through apps like SpotHero or ParkWhiz.
Did you know one of the largest zoological collections in the country is in Milwaukee at the Milwaukee County Zoo? With over 3,100 animals across 350 diverse species and a strong conservation program, they rival zoos from much larger cities. The Milwaukee County Zoo is specifically known for their work with African elephants in a state-of-the-art Elephant Care Center while also being one of the few zoos in North America to a house a bonobo colony (primates closely related to chimpanzees) which are rarely seen in captivity. The zoo also participate in Species Survival Plans (SSPs) for red pandas, bonobos, snow leopards, jaguars, and Humboldt penguins.
Honestly, the red pandas alone are enough reason to go. Who doesn’t LOVE red pandas?
The Milwaukee County Zoo is one of Milwaukee’s most expansive and accessible attractions. The Zoo spans nearly 200 acres with mostly flat, paved pathways designed for navigating with wheelchairs and strollers. There are some long inclines so you might find an electric wheelchair or scooter helpful. Multiple zoo buildings, including the Aquatic & Reptile Center, Giraffe House, and the U.S. Bank Gathering Place offer accessible restrooms. There are also family restrooms located near the Gift Shop and at the West Entrance. Sensory inclusion services include noise-canceling headphones and quiet zones.
Designated accessible spaces are located at the front of Lots 1, 2, and 3. You will need to display a valid Disabled Parking Identification Permit or have a Disability / Veteran license plate.
Within the zoo, there are multiple food options. Stone Creek Coffee Shop in the main entrance area provides coffee, pastries, grab-and-go items, and ice cream. Inside the U.S. Bank Gathering Place, you’ll find Café 1892 offering pizza, artisan sandwiches, salads, burgers, and snacks. Throughout the grounds of the zoo, you will also find Nourish 414, West End Snacks, Ice Cream Parlor, The Coop food truck, and Wild Burger & Woody’s Custard.
The Pabst Mansion offers a fascinating look at Milwaukee’s historic past. Once home to Captain Frederick Pabst, founder of the iconic Pabst Brewing Company, this 1892 Flemish Renaissance Revival mansion is filled with intricate woodwork, stained glass, and original furnishings. Whether you’re a fan of architecture, history, or simply enjoy beautifully curated spaces, the Pabst Mansion provides a rich and intimate glimpse into the city’s gilded age.
While the building is over 130 years old, the staff has taken thoughtful steps to make the Pabst Mansion accessible. There is an elevator that allows visitors using wheelchairs to explore each of the main floors. Guided accessible tours are available upon request. The mansion’s team is also happy to offer alternate viewing options for any spaces that may be more difficult to access due to narrow doorways, making sure every guest feels welcomed and included.
Accessible parking is available directly behind the mansion in a small lot shared with nearby venues. On less busy days, you may also find street parking on W. Wisconsin Avenue. There are curb ramps at each intersection and the entrance path is paved, with staff available to assist if needed.
For lunch in the area, we recommend The Ambassador Hotel Café. It’s fully wheelchair-accessible and offers classic American fare in a historic art deco setting.
Pro Tip — The Visit Milwaukee website has a great list of 34 accessible attractions on their Things To Do Page.
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