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Boat Tours & Charters in Milwaukee, WI

12 of the 69 marinas and boating businesses we list in Milwaukee are boat tours and private charters.

Excursions range from captained private sailboat rentals and sunset party boats to scheduled wildlife cruises and eco-tours. Choosing the right operator depends on whether you want a catered, hands-off experience or a BYOB group outing, as well as age restrictions for children. A map location shows where the vessel docks, but it will not tell you if fuel, captain fees, and safety gear are included in the listed rate.

  1. Milwaukee Sunrise Charters

    1750 N Lincoln Memorial Dr, Milwaukee, WI 53202

    Boat ramp
    Call Website Directions

  2. Edelweiss Cruises and Boat Tours

    205 W Highland Ave, Milwaukee, WI 53203

    Call Website Directions

  3. Bentley Boat Tours

    1201 W Canal St, Milwaukee, WI 53233

    Call Website Directions

  4. Jack's Charter Service

    1750 N Lincoln Memorial Dr, Milwaukee, WI 53202

    Mo,Tu,We,Th,Fr,Sa,Su 05:00-22:00

    Call Website Directions

  5. BoatMKE

    206 W Highland Ave, Milwaukee, WI 53202

    Call Website Directions

  6. Milwaukee Boat Line

    1124 N Doctor M.L.K. Jr Dr, Milwaukee, WI 53203

    Call Website Directions

  7. Sea Dog Sailing

    100 E Lagoon Dr, Milwaukee, WI 53202

    Call Website Directions

  8. Sea Dog Sailing

    1750 N Lincoln Memorial Dr, Milwaukee, WI 53202-1336

    Call Website Directions

  9. Kanaloa Tiki

    1110 N Dr Martin Luther King Jr Dr, Milwaukee, WI 53203-1100

    Call Website Directions

  10. Crabby Charters

    1750 N Lincoln Memorial Dr, Milwaukee, WI 53202-1336

    Call Website Directions

  11. Milwaukee Pedal & Paddle Tavern | The Harp

    113 E Juneau Ave, Milwaukee, WI 53202-2560

    Call Directions

  12. Len-Der Charters

    318 S Water St, Milwaukee, WI 53204

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Check the inclusions. Confirm whether the quoted price covers captain fees, fuel, port taxes, and gratuity, or if those are billed separately at dockside checkout.

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Good to know

What is the difference between a boat tour and a boat charter?

A boat tour sells individual tickets on a scheduled route with a set itinerary and shared passengers. A charter reserves the entire vessel for your private group, often allowing custom routes, flexible departure times, and personalized food or drink options.

Are food and drinks usually provided on board?

Larger sightseeing tours often feature a cash bar or light snacks, while private charters frequently operate on a BYOB basis with ice and coolers provided. Always check local regulations and company rules regarding glass containers and alcohol before boarding.

How much do boat tours and charters typically cost?

Shared passenger tours typically cost between $30 and $90 per person depending on the duration and destination. Private charters generally start around $300 to $600 for a few hours on a smaller craft, while larger yachts or specialized sail charters can run $1,000 or more.