Pet-friendly Milwaukee: Things to see & do with a dog

If you’re house sitting in Milwaukee, WI, or visiting with your own furry family member, you’ll be pleased to know there’s plenty to see and do. From parks and patios to beaches and bars, we’ve rounded up the best of pet-friendly Milaukee – plus a few tips to help you make the most of your time as a pet sitter or traveling pet parent.

Dog-friendly restaurants in Milwaukee

While pups can’t join you inside (unless they’re service animals), there are plenty of Milwaukee restaurants that welcome dogs on their outdoor patios. If you’re after even more pet-friendly places to grab a drink and a snack, be sure to check out our list of dog-friendly bars and breweries further down.

Café Hollander – Tosa Village

Set by the creek in a European-style setting, Café Hollander has a spacious, dog-friendly patio where you can enjoy everything from breakfast to dinner. Expect hearty Belgian and Dutch-inspired dishes, plus a great selection of European beers.

Location: 7677 W State St, Wauwatosa, WI 53213, United States

Café Benelux

Head up to the dog-friendly rooftop and enjoy the views while choosing from a menu inspired by the Grand Cafés of Lowlands Europe. With over 50 beers to pick from and delicious options like moules frites, salads, and entrees, it’s a great spot for both humans and hounds.

Location: 346 N Broadway, Milwaukee, WI 53202, United States

Heirloom MKE

Formerly a food truck and now a firm local favorite, Heirloom’s dog-friendly patio fills up fast – so book ahead! Treat yourself to comfort food with a twist, like hand-stretched burrata, braised short rib mac & cheese, or grilled shrimp polenta, all with your pup by your side.

Location: 2378 S Howell Ave, Milwaukee, WI 53207, United States

Centraal Grand Café & Tappery

Transport yourself to an Amsterdam train station without leaving Milwaukee! Their menu includes options for gluten-free, vegan, veggies, and kids, and dogs are more than welcome in the courtyard.

Location: 2306 S Kinnickinnic Ave, Milwaukee, WI 53207, United States

Camino

You’ll find all the classic American pub fare at Camino – including burgers, wings, and sandwiches filled to the brim. Their relaxed outdoor seating area is dog-friendly, so pups don’t have to miss out on the fun!

Location: 434 S 2nd St, Milwaukee, WI 53204, United States

Milwaukee Sail Loft

Seafood lovers, this one’s for you. Come here for lobster rolls, clam chowder, crab cakes, and mahi tacos, and enjoy water views from the terrace and your pup lounging beside you.

Location: 649 E Erie St, Milwaukee, WI 53202, United States

Leff's Lucky Town

With a spacious dog-friendly outdoor area, Leff’s is a great place to catch a game with your pup. Don’t miss their signature burgers and giant pretzels!

Location: 7208 W State St, Wauwatosa, WI 53213, United States

Dog-friendly coffee shops in Milwaukee

Your canine companion can come along for a coffee date, too! Here are some of the best local cafes that allow dogs in their outdoor seating areas:

Colectivo Coffee – Lakefront

All Colectivo locations are dog-friendly outside, but this one stands out for its sweeping views of Lake Michigan. Stop by for an all-day breakfast (served from 6:30 a.m. to 8 p.m.) and a brew with a view.

Location: 1701 N Lincoln Memorial Dr, Milwaukee, WI 53202, United States

Vendetta Coffee Bar

The friendly owners at Vendetta serve an array of creative drinks, including blackberry matcha and pistachio mocha – plus pastries and paninis imported from Italy. Pooch pals are welcome at the tables outside. 

Location: 524 S 2nd St First Floor, Milwaukee, WI 53204, United States

Mama D's Coffee - Waukesha

This outdoor seating area is extra dog-friendly, with treats and pup cups to make them feel right at home. Of course, there’s plenty for humans too – fresh coffee, baked goods, and a tasty breakfast menu.

Location: 928 N Hartwell Ave, Waukesha, WI 53186, United States

Dog-friendly beaches in Milwaukee

While dogs aren’t allowed on Milwaukee’s main public beaches, there are a few nearby spots where your pup can splash, paddle, and enjoy the water. Here are some great places to cool off with your four-legged friend:

Pike Lake Beach

Just a short drive from Milwaukee, Pike Lake has scenic trails through the woods – perfect for a leashed walk – leading to a designated dog beach where your pup can take a dip and cool off.

Location: 3250 Kettle Moraine Rd, Hartford, WI 53027, United States

Caledonia Dog Park – Dog Beach Area 1

Once of many spots along the Root River where furry friends can get into the water, this shallow area is ideal for a refreshing paddle.

Location: Racine, WI 53402, United States

Port Washington South Beach Park

Pups are welcome on-leash at this sandy beach spot and can even go for a dip in the water.

Location: S Wisconsin St, Port Washington, WI 53074, United States

Viking Dog Beach

Set along the Yahara River, this dog-friendly area has plenty of shade and places to sit. The clean water is a great place to test out that doggy paddle.

Location: 1582 County Hwy N, Stoughton, WI 53589, United States

Dog parks in Milwaukee

Milwaukee is home to plenty of off-leash dog parks, but many require a permit to visit. Passes start at just $6 for a single-day, or $35 annually for residents ($39 for non-residents). All parks are open daily from 5 a.m. to 10 p.m.

Currie Park Dog Park

With two dedicated spaces – 1.5 acres for small dogs (under 20 lbs) and a spacious 10-acre area for larger pups – this park has something for everyone. Take the trails through the forest or play a giant game of fetch in the open field.

Location: 3535 N Mayfair Rd, Wauwatosa, WI 53222, United States

Estabrook Park Dog Park

Inside the larger Estabrook Park, you’ll find a 3-acre fenced dog zone where pups can run freely and safely. It’s ideal for social doggos and peace of mind for pet parents.

Location: Oak Leaf Trail, Milwaukee, WI 53217, United States

Granville Dog Exercise Area

Off-leash hiking trails weave through this 10-acre park, with a shallow creek to dip paws in and plenty of benches throughout. Just note: this park isn’t fenced, so voice control is a must.

Location: 11718 Good Hope Rd, Milwaukee, WI 53224, United States

Roverwest Dog Park

This fully-fenced park has plenty of room to play – and lots of free parking nearby. 

Location: 3243 N Weil St, Milwaukee, WI 53212, United States

Warnimont Dog Park

This wooded park separates small and large dogs into different areas. Follow the shady trails and let your pup make a few new furry friends along the way.

Location: 6100 S Lake Dr, Cudahy, WI 53110, United States

Bay View Dog Park

This compact, one-acre park is covered in wood chips to keep mud to a minimum. There’s bowls of water and friendly regulars, but note that it’s located under the highway, so can be noisy. 

Location: E Lincoln Ave &, S Bay St, Milwaukee, WI 53207, United States

Dog-friendly bars and breweries in Milwaukee

Milwaukee is famous for its breweries and craft beer culture, so it makes sense to visit one with your pooch pal!

Black Husky Brewing

Since it’s named after the owner’s husky, Howler, it’s only right that four-legged friends are welcome both inside and out. With 12 beers on tap, locally made snacks, and a packed calendar of events, it’s a great hangout for both humans and hounds.

Location: 909 E Locust St, Milwaukee, WI 53212, United States

Estabrook Beer Garden

After your pup’s burned off some energy at the nearby park, swing by this seasonal beer garden for bratwursts, soft pretzels, and imported beers. Add live music and park views, and you’ve got a perfect outing.

Location: 4600 Estabrook Pkwy, Milwaukee, WI 53217, United States

South Shore Terrace Kitchen & Beer Garden

Housed in a restored 1930s bathhouse, this lakeside beer garden is a lovely spot to soak in the view with your four-pawed pal. There’s plenty of dog-friendly outdoor seating, great beer on tap, and a tasty menu of small bites and pub food.

Location: 2900 S Shore Dr, Milwaukee, WI 53207, United States

The Wicked Hop

Home to one of Milwaukee’s best Bloody Marys, The Wicked Hop welcomes furry friends on its heated patio year-round. Your pup will get a water bowl while you enjoy something off the extensive food & drink menu.

Location: 345 N Broadway, Milwaukee, WI 53202, United States

Draft & Vessel – Shorewood

This relaxed taproom doesn’t serve food, but you’re welcome to bring your own or have something delivered. That’s part of what keeps it so dog-friendly – both inside and out.

Location: 4417 N Oakland Ave, Shorewood, WI 53211, United States

Sobelmans on St. Paul

Famous for its juicy Black Angus burgers and stacked Bloody Marys, Sobelmans invites furry friends to join their humans in the outdoor seating area.

Location: 1900 W St Paul Ave, Milwaukee, WI 53233, United States 

Dog-friendly hikes in Milwaukee

Milwaukee locals are lucky to have access to the beautiful Oak Leaf Trail, over 135 miles of paths for cycling, walking, running. Pooch pals are welcome to join, but must be kept on a short leash at all times, and please remember to clean up after your pup.

Here are some sections of the Oak Leaf Trail to explore with your four-legged hiking buddy:

• Oak Creek Line: Follows an old railroad route (8 miles)
• South Shore Line: Scenic path along Lake Michigan (16 miles)
• Milwaukee River Line: A mix of city and nature through downtown (14 miles)
• Zip Line: Connects Estabrook Park with Brown Deer Park (5 miles)
• Drexel/Bradley Connector: Links two key trail lines (3.3 miles)
• Lake Park Loop: Hugs Milwaukee’s lakefront (8 miles) 
• Whitnall Park Loop: Takes you through Whitnall Park (3.5 miles)
  

More dog-friendly walking routes near Milwaukee include:

Havenwoods State Forest

An unexpected escape in the heart of the city, this 237-acre urban forest has plenty of trails to explore. Pups are welcome on-leash.

Location: 6141 N Hopkins St, Milwaukee, WI 53209, United States

Lion’s Den Gorge Nature Preserve

Not far from Milwaukee, this lakeside preserve is ideal for a hot day. Paths are relatively flat, views from the bluff are stunning, and benches provide plenty of opportunities to pause and enjoy the scenery.

Location: 511 High Bluff Dr, Grafton, WI 53024, United States

The Kinnickinnic River Trail

This paved, 2-mile trail winds through the Bay View neighborhood and is perfect for an easy stroll with your pup.

Location: W Rita Dr, Milwaukee, WI 53219, United States

Menomonee River Parkway

Follow trails through the woods or paved paths along the winding river, with access points for pups to jump in.

Location: Menomonee River Pkwy, Wauwatosa, WI 53222, United States

Kettle Moraine State Forest – Lapham Peak Unit

This forest has 17 miles of trails to explore with your furry friend on the leash – the natural beauty makes it well worth the trip.

Location: W329 N846, County Rd C, Delafield, WI 53018, United States

Other dog-friendly places in Milwaukee

Looking for more ways to spend time with your pup in the city? Here are a few extra spots and dog-friendly activities in Milwaukee: 

Salty Paws  

Treat your pup to something special at Salty Paws, which offers dog-friendly ice cream in a variety of flavors and toppings. They also do freshly baked goodies and other tasty treats made just for dogs!

Location: Corcoran Lofts Building, 121 N Jefferson St, Milwaukee, WI 53202, United States

Milwaukee Boat Line

Take your furry friend on a scenic cruise along the Milwaukee River and out to Lake Michigan. Well-behaved dogs on a leash are welcome aboard! 

Location: 1124 N Doctor M.L.K. Jr Dr, Milwaukee, WI 53203, United States

Milwaukee Public Market

Furry friends are welcome to join on the outside tables at the public market, which is a great place to grab some fresh produce and local goodies.

Location: 400 N Water St, Milwaukee, WI 53202, United States

Brady Street Pet Parade

This annual celebration is a must for Milwaukee dog lovers! Enjoy a day of live music, local food vendors, and pet costume contests as furry friends parade through the streets in their best Halloween looks.

Date: TBC 

Location: Milwaukee, WI 53202, USA

Tips for pet parents in Milwaukee

• Get a dog park permit: To access Milwaukee County’s off-leash dog parks, you’ll need a permit. Daily passes start at $6, and annual passes are available for residents and non-residents.
• Use the Oak Leaf Trail wisely: The 135+ miles of the Oak Leaf Trail are great for dog walks, but be mindful of cyclists and joggers. Stick to the right side of the trail, keep your pup on a short leash, and avoid retractable leashes in busier sections.
• Plan ahead for trips away: Don’t leave pet care to the last minute – discover loving, in-home pet care with verified sitters who love nothing more than spending time with furry friends. 

Tips for pet sitters in Milwaukee

• Respect shared spaces: Even in dog-friendly areas, be mindful of other pets, kids, and people who may not be comfortable around animals. Keep your four-legged friend close, especially in busy parks or patios.
• Plan pet-friendly day trips: There are lots of trails, beaches, and parks just outside the city. Try places like Lion’s Den Gorge, Lapham Peak, or Pike Lake for a weekend adventure with your furry friend – just be sure to check with pet parents first!
• Explore Milwaukee as a pet sitter: Take dogs on scenic strolls along the Oak Leaf Trail, grab a coffee at Colectivo, or relax in Estabrook Park after a walk. Many neighborhoods are super walkable and welcoming to pets, so you’ll get to discover the best of Milwaukee with a pup by your side.

More dog-friendly travel guides near Milwaukee

Thinking about house sitting in Milwaukee, visiting a nearby town with your canine companion, or welcoming a pet sitter soon? Explore our travel guides below for dog-friendly places to visit, along with local tips and advice.

• Dog-friendly Chicago: Things to do in Chicago with a dog
• A guide to dog-friendly Madison, WI
• Dog-friendly Indianapolis: Things to do in Indianapolis with a dog