Day Trips from Milwaukee
← All Milwaukee day tripsDay Trips from Milwaukee: Waterfalls & Swimming Holes
The best waterfalls and swimming holes within driving distance of Milwaukee, WI. Dramatic cascades, hidden gorges, and swimmable falls that reward the drive. Trail info, drive times, and ratings included.
5 waterfalls near Milwaukee
Cascade Falls
IL 61348, USA
Just 2 hrs 32 min from Milwaukee, rated 4.8 stars, a popular destination with plenty to see and do.
Best time to visit: Spring and fall offer mild weather and smaller crowds at most attractions.
Parfrey's Glen State Natural Area
Merrimac, WI 53561
Just 1 hr 45 min from Milwaukee, rated 4.8 stars by 1,510 visitors, perfect for hiking, scenic views, and getting outdoors.
Best time to visit: Spring through fall for trails and foliage. Fall colors peak mid-October.
️Matthiessen Lake Waterfall
IL 61348, USA
Just 2 hrs 34 min from Milwaukee, rated 4.7 stars by 164 visitors, packed with outdoor activities and adventure.
Best time to visit: Spring through fall for most outdoor activities. Winter for snow sports where available.
Governor Dodge State Park
Dodgeville, WI 53533
Just 1 hr 59 min from Milwaukee, rated 4.7 stars by 2,840 visitors, perfect for hiking, scenic views, and getting outdoors.
Best time to visit: Spring through fall for trails and foliage. Fall colors peak mid-October.
Pewit's Nest
Baraboo, WI 53913
Just 1 hr 54 min from Milwaukee, rated 4.5 stars by 1,094 visitors, perfect for hiking, scenic views, and getting outdoors.
Best time to visit: Spring through fall for trails and foliage. Fall colors peak mid-October.
Frequently Asked Questions About Waterfalls Day Trips from Milwaukee
What are the best waterfalls near Milwaukee, WI?
The best waterfalls near Milwaukee range from roadside cascades to backcountry falls requiring a hike. Check the cards above for top-rated options with drive times and real visitor ratings.
Are there swimmable waterfalls near Milwaukee?
Some waterfalls near Milwaukee have designated swimming areas at their base. Always check current conditions and posted rules before swimming. State park waterfalls with established trails are generally the safest options.
How hard are the hikes to waterfalls near Milwaukee?
Difficulty varies widely. Some waterfalls near Milwaukee are visible from parking areas or short boardwalks. Others require moderate to strenuous hikes of 2-6 miles round trip. Check individual trail descriptions before heading out.
When is the best time to see waterfalls near Milwaukee?
Spring (March-May) typically offers the highest water flow after snowmelt and rain. Waterfalls are beautiful year-round though. Winter ice formations are dramatic, and fall foliage framing a waterfall is hard to beat.
Don't know where to go?
Tell us your interests, budget, and how far you want to drive. We'll find the perfect trip for you.
Surprise me