Top Wisconsin Historical & Heritage Tours

Q: Which Wisconsin Historical & Heritage Tours have Instant Confirmation?

Wisconsin Historical & Heritage Tours with Instant Confirmation include: Personal and Detailed Milwaukee Sightseeing Bus Tour Discover Iconic Milwaukee Tour Boat Cruise - North Shore to Death’s Door Crossing Peninsula State Park Segway Tour – Scenic Door County Views Old Milwaukee E-Bike Tour View all Tours with Instant Confirmation →

Q: I need a ride! Which Wisconsin Historical & Heritage Tours have Hotel Pickup?

No problem. These Wisconsin Historical & Heritage Tours include Hotel Pickup: Private 2-Hour Milwaukee Historic & Cultural Walking Tour View all Tours with Hotel Pickup →

Q: Got any more Wisconsin trip ideas?

We sure do. Check out our curated lists of hand-picked Wisconsin Tours. Top 10 Wisconsin 2026 Senior-friendly tours Wisconsin The best tours and activities for culture lovers in Wisconsin Things to do in Wisconsin this summer Rainy day activities in Wisconsin View all Wisconsin Trip Ideas →

Q: What are the most popular styles of Tours and Activities in Wisconsin?

Based on our sales data over the past year, the most popular styles of tours and activities in Wisconsin are: Wisconsin Luxury & Special Occasions Wisconsin Luxury Tours Wisconsin Cultural & Theme Tours Wisconsin Historical & Heritage Tours Wisconsin Tours & Sightseeing View all tour styles in Wisconsin →

Personal and Detailed Milwaukee Sightseeing Bus Tour

Tap into Milwaukee's famous attractions and history as well as other sights you may not have known existed. Don't just see Milwaukee, experience it! …More

Milwaukee, USA

5.0 (910)

Personal and Detailed Milwaukee Sightseeing Bus Tour

Tap into Milwaukee's famous attractions and history as well as other sights you may not have known existed. Don't just see Milwaukee, experience it!...

2 hours

5.0 (910)

from
$47

Embark on an intimate high-end unforgettable journey through the heart of Milwaukee. Where history, culture & vibrant energy converge to create an experience like no …More

Milwaukee, USA

4.9 (340)

Discover Iconic Milwaukee Tour

Embark on an intimate high-end unforgettable journey through the heart of Milwaukee. Where history, culture & vibrant energy converge to create an experience like no...

100 to 120 minutes

4.9 (340)

from
$68

Boat Cruise - North Shore to Death’s Door Crossing

Join us on a fantastic tour that perfectly captures the essence of Door County! Immerse yourself in the fascinating human history and stunning scenery, both …More

Green Bay & Door County, USA

4.9 (171)

Boat Cruise - North Shore to Death’s Door Crossing

Join us on a fantastic tour that perfectly captures the essence of Door County! Immerse yourself in the fascinating human history and stunning scenery, both...

2 hours Free Cancellation

4.9 (171)

from
$52

Peninsula State Park Segway Tour – Scenic Door County Views

This Segway tour has the best views that Door County offers! You will be amazed as you take in the picture-worthy water views while gliding …More

Green Bay & Door County, USA

5.0 (107)

Peninsula State Park Segway Tour – Scenic Door County Views

This Segway tour has the best views that Door County offers! You will be amazed as you take in the picture-worthy water views while gliding...

2 hours Free Cancellation

5.0 (107)

from
$101

Hop on your pedal assist e-bike and get a helpful push as you ride about 15 miles through the best of Milwaukee. See what makes …More

Milwaukee, USA

5.0 (85)

Old Milwaukee E-Bike Tour

Hop on your pedal assist e-bike and get a helpful push as you ride about 15 miles through the best of Milwaukee. See what makes...

3 hours Free Cancellation

5.0 (85)

from
$79

Hearthstone Historic House Museum Admission Ticket

The Hearthstone is a large, beautifully restored Queen Anne Victorian Style home built in 1882 by Henry J. Rogers, Superintendent of the Appleton Paper and …More

Green Bay & Door County, USA

5.0 (74)

Hearthstone Historic House Museum Admission Ticket

The Hearthstone is a large, beautifully restored Queen Anne Victorian Style home built in 1882 by Henry J. Rogers, Superintendent of the Appleton Paper and...

1 to 2 hours Free Cancellation

5.0 (74)

from
$12

Skip the Line: Museum Admission Ticket - Grohmann Museum

On the campus of the Milwaukee School of Engineering, the Grohmann Museum is unique in that it's the only museum of its kind in the …More

Milwaukee, USA

4.8 (53)

Skip the Line: Museum Admission Ticket - Grohmann Museum

On the campus of the Milwaukee School of Engineering, the Grohmann Museum is unique in that it's the only museum of its kind in the...

1 to 3 hours Free Cancellation

4.8 (53)

from
$5

Self-Guided Audio Tour Lake Superior North Shore

Download the GuideAlong self-guided audio tour and you'll discover more on your Lake Superior North Shore road trip. Hear fascinating behind-the-scenes stories, local tips and …More

Duluth, Canada

4.9 (47)

Self-Guided Audio Tour Lake Superior North Shore

Download the GuideAlong self-guided audio tour and you'll discover more on your Lake Superior North Shore road trip. Hear fascinating behind-the-scenes stories, local tips and...

3 to 11 hours Free Cancellation

4.9 (47)

from
$17

Polish Cultural Workshop with Pierogi Dinner - Appleton, WI

If you don't see a time frame that works for you please contact me to arrange that. This workshop is addressed to adults to learn …More

Green Bay & Door County, USA

5.0 (35)

Polish Cultural Workshop with Pierogi Dinner - Appleton, WI

If you don't see a time frame that works for you please contact me to arrange that. This workshop is addressed to adults to learn...

2 hours Free Cancellation

5.0 (35)

from
$51

Enjoy a guided electric scooter experience through a quieter, scenic area of Door County, designed for relaxed riding and open views. After a brief, hands-on …More

Green Bay & Door County, USA

4.9 (31)

Fish Creek Segway Tour

Enjoy a guided electric scooter experience through a quieter, scenic area of Door County, designed for relaxed riding and open views. After a brief, hands-on...

50 minutes Free Cancellation

4.9 (31)

from
$55

Green Bay Downtown & Riverwalk Segway Tour

Experience the riverfront and downtown character of Green Bay on a guided Segway tour designed to be scenic, informative, and easy to enjoy. After personal …More

Green Bay & Door County, USA

4.8 (26)

Green Bay Downtown & Riverwalk Segway Tour

Experience the riverfront and downtown character of Green Bay on a guided Segway tour designed to be scenic, informative, and easy to enjoy. After personal...

60 to 90 minutes Free Cancellation

4.8 (26)

from
$72

A Self-Guided Drive of Southern Door County's Natural Heritage

Discover the natural and maritime heritage of southern Door County on this self-guided driving tour, where the total cost for the whole car is a …More

Sturgeon Bay, USA

4.8 (23)

A Self-Guided Drive of Southern Door County's Natural Heritage

Discover the natural and maritime heritage of southern Door County on this self-guided driving tour, where the total cost for the whole car is a...

180 to 210 minutes Free Cancellation

4.8 (23)

from
$15

Green Bay Packers Heritage Trail Segway Tour

Explore the early history of the Green Bay Packers on a guided Segway tour through Green Bay with a clear football focus. After personal Segway …More

Green Bay & Door County, USA

5.0 (21)

Green Bay Packers Heritage Trail Segway Tour

Explore the early history of the Green Bay Packers on a guided Segway tour through Green Bay with a clear football focus. After personal Segway...

60 to 90 minutes Free Cancellation

5.0 (21)

from
$72

Cave Point/Whitefish Dunes Door County Segway Tour

Glide through one of Door County's most beautiful areas on a Segway adventure connecting Cave Point County Park and Whitefish Dunes State Park. Ride along …More

Sturgeon Bay, USA

5.0 (19)

Cave Point/Whitefish Dunes Door County Segway Tour

Glide through one of Door County's most beautiful areas on a Segway adventure connecting Cave Point County Park and Whitefish Dunes State Park. Ride along...

95 to 120 minutes Free Cancellation

5.0 (19)

from
$101

Historical Downtown Eau Claire: A Self-Guided Walking Tour

See where the city got its start from a small logging town that grew into a cultural powerhouse on this affordable self-guided audio tour. • …More

4.9 (18)

Historical Downtown Eau Claire: A Self-Guided Walking Tour

See where the city got its start from a small logging town that grew into a cultural powerhouse on this affordable self-guided audio tour. •...

90 to 120 minutes Free Cancellation

4.9 (18)

from
$8

Fish Creek E-Scooter Guided Tour w/ Private Tour Option

Experience the seasons with the Ninebot Max electric scooter, made by Segway. Glide through the stunning foliage and learn about some of the unique cultural …More

Green Bay & Door County, USA

4.9 (17)

Fish Creek E-Scooter Guided Tour w/ Private Tour Option

Experience the seasons with the Ninebot Max electric scooter, made by Segway. Glide through the stunning foliage and learn about some of the unique cultural...

60 to 90 minutes Free Cancellation

4.9 (17)

from
$60

Small Group Kayak Tour of Skyline in Milwaukee

Our guided City Skyline Kayak Tours are 1.5–2 hours long and follow the Milwaukee River up towards downtown Milwaukee. We do not make any stops …More

Milwaukee, USA

5.0 (8)

Small Group Kayak Tour of Skyline in Milwaukee

Our guided City Skyline Kayak Tours are 1.5–2 hours long and follow the Milwaukee River up towards downtown Milwaukee. We do not make any stops...

1 hour 30 minutes Free Cancellation

5.0 (8)

from
$83

See a quieter, more natural side of Door County on a guided Segway tour focused on lighthouses, shoreline scenery, and local history. Glide along scenic …More

Green Bay & Door County, USA

5.0 (6)

Baileys Harbor Lighthouse Segway Tour

See a quieter, more natural side of Door County on a guided Segway tour focused on lighthouses, shoreline scenery, and local history. Glide along scenic...

90 to 120 minutes Free Cancellation

5.0 (6)

from
$101

Green Bay E-Scooter Tour: Downtown & Fox River

Explore Green Bay on two wheels with a fun, easygoing guided e-scooter ride through downtown and along the Fox River. Cruise the Fox River Trail, …More

Green Bay & Door County, USA

4.8 (6)

Green Bay E-Scooter Tour: Downtown & Fox River

Explore Green Bay on two wheels with a fun, easygoing guided e-scooter ride through downtown and along the Fox River. Cruise the Fox River Trail,...

60 to 90 minutes Free Cancellation

4.8 (6)

from
$57

This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am. …More

Milwaukee, USA

5.0 (3)

2-Hour Bus Tour in Milwaukee City

This experience is for the budget friendly travelers. This bus tour has a minimum 8 guest requirement to operate. A 90-120 minute Tour Times: 10am....

100 to 120 minutes

5.0 (3)

from
$40

Frequently Asked Questions

These answers are based on answers previously given to Cool Shore Excursions customers' questions.

What are the best options for Wisconsin Historical & Heritage Tours?

What are the best kid-friendly options for Wisconsin Historical & Heritage Tours Tours?

According to verified reviews on Cool Shore Excursions and TripAdvisor, the best kid-friendly Wisconsin Historical & Heritage Tours are:

View all kid-friendly Tours →

Which Wisconsin Historical & Heritage Tours have Instant Confirmation?

Which Wisconsin Historical & Heritage Tours have Free Cancellation?

Wisconsin Historical & Heritage Tours with Free Cancellation (in most cases up to 24 hours in advance of your tour date, check the specific tour page) include:

View all Tours with Free Cancellation →

I need a ride! Which Wisconsin Historical & Heritage Tours have Hotel Pickup?

Got any more Wisconsin trip ideas?

What are the most popular styles of Tours and Activities in Wisconsin?