Dog Friendly Tours in Wisconsin

Taking the dog out for a walk takes on a new meaning when you’re on vacation in Wisconsin. After all, there are tons of sights to see, and smell, around every corner. Browse our dog friendly tours in Wisconsin below for the scoop on self-guided walks, driving tours, and group tours that both you and your dog are sure to enjoy.

Dells Boat Tours

Wisconsin Dells, WI

Dells Boat Tours Dells Boat Tours is more than a journey through scenery, history and legend. It's your opportunity to experience the natural beauty of Wisconsin Dells, WI in just about every way imaginable. From dog-friendly river tours to group outings, sunset cruises to special events, they offer a variety of ways to fire your imagination, dazzle your senses and exceed your expectations, and dogs are welcome as long as they are leashed and there is enough room on the boat. See Details

Milwaukee Boat Line

Milwaukee, WI

Milwaukee Boat Line For on the water fun with your pup, Milwaukee Boat Line cruises welcome well-behaved, leashed pets on their dog-friendly public cruises. Enjoy the cityscape views of Milwaukee, WI, as you cruise along the Milwaukee River and out onto Lake Michigan. Dogs are welcome on all general cruises but restrictions apply for specialty voyages. Sightseeing tours are offered May through October. See Details

Sister Bay Scenic Boat Tours

Sister Bay, WI

Sister Bay Scenic Boat Tours Check out the pet-friendly Sister Bay Scenic Boat Tours in Sister Bay, WI. They offer sightseeing cruises, sunset cruises and live music cruises. The boat offers refreshments onboard and they're accessible for people in wheelchairs. They recommend arriving 30 minutes before departure for their tours of Eagle Bluff Lighthouse, Death’s Door and the many islands, bluffs and beaches surrounding Door County. Tours are offered at different times throughout the day, so make sure to check the calendar on their website for specific departure times. See Details

Dells Army Ducks

Wisconsin Dells, WI

Dells Army Ducks Bring Fido to take a pet-friendly guided tour of the Lower Dells and Lake Delton aboard the original World War II-era Dells Army Ducks. The Ducks have been one of Wisconsin Dells, WI’s most popular attractions for over 70 years, and they provide a sightseeing experience unlike any other. Small, leashed dogs are welcome on the boats. Call ahead for restrictions and prices. Tickets can be ordered online or purchased at the gate. See Details

Lakeshore Paddle Sport Rentals

Milwaukee, WI

Lakeshore Paddle Sport Rentals Located at Discovery World Museum's south dock, Lakeshore Paddle Sport Rentals is a seasonal business offering dog-friendly boat rentals in Milwaukee, WI. Small pets are welcome aboard a two-person paddle boat which are available to rent between May 1st and September 30th. Explore two quiet lagoons during your one-hour excursion and admire city views from the boats. See Details

Madeline Island Ferry Line

Bayfield, WI

Madeline Island Ferry Line Madeline Island Ferry Line is a pet-friendly spot in Bayfield, WI. Your leashed pup is welcome to hop aboard this vehicle and passenger ferry that travels between the islands. Please call ahead to let them know your furry friend will be joining. See Details

Fish Creek Scenic Boat Tours

Fish Creek, WI

Fish Creek Scenic Boat Tours Bring Fido along for a tour of the Green Bay in Fish Creek, WI aboard the Quo Vadis with the pet-friendly Fish Creek Scenic Boat Tours. Dogs are welcome to join their humans on all of the tours. Snacks and beverages are available for purchase, but you are also welcome to bring your own refreshments aboard. Reservations are recommended. See Details

Lost Canyon Tours

Wisconsin Dells, WI

Lost Canyon Tours Take a dog-friendly, horse-drawn carriage tour with Fido of the beautiful Lost Canyon in Lake Delton, WI. Dogs are welcome as long as they don't bark at the horses. Visitors will take a 30 minute ride through a mile of cliff-walled gorges. At the narrowest passages, the guides must talk the horses through the tight squeeze. In some spots, the sheer rock and sandstone walls have not been touched by the sun in more than 50,000 years. Carriages can carry up to 15 guests. See Details

Angry Fin Charter Fishing

Port Washington, WI

Angry Fin Charter Fishing Angry Fin Charter Fishing is a dog-friendly charter fishing company in Port Washington, WI. Dogs are welcome aboard any fishing charter. They offer fishing excursions from a minimum of three hours, to a full day. All charter tour fees cover the tour for six people, cleaning and bagging of all fish caught, rods, reels, cooler with ice, and an experience Captain. Reach out to Angry Fin today! See Details

Peninsula Kayak Company

Sturgeon Bay, WI

Peninsula Kayak Company The Peninsula Kayak Company offers pet-friendly kayak tours and rentals in Sturgeon Bay, WI. Leashed dogs and even cats are welcome to join their owners in exploring the natural beauty of the Door Peninsula. They also have multiple locations, so there's always a new adventure to embark on! See Details

Dance with Clay - Heart of Madison

Madison, WI

Dance with Clay - Heart of Madison 'Dance with Clay - Heart of Madison' is a pet-friendly Airbnb Experience hosted by Lejia. With prior approval, your well-behaved pooch can sit beside you at this workshop where you will learn to make a pottery bowl. Your host will first demonstrate the process and then you will have a chance to replicate the creation on your own. Although you won't be able to keep what you make, you will be given a ceramic mug souvenir. The experience lasts 1.5 hours and can accommodate up to 7 guests ages 18 and up. Parents may also bring children under 2 years of age. No prior requirements, come with an open mind and be ready to get dirty. Rates start at $45 per person. See Details

WI Old Fashioned Cocktail Making Class

Milwaukee, WI

WI Old Fashioned Cocktail Making Class 'WI Old Fashioned Cocktail Class' is a pet-friendly Airbnb Experience hosted by Leah, Angela and Andrea. Learn the steps to make the perfect traditional WI Old Fashioned including some history about this local libation. Dogs are welcome if they can be quiet during class time. The experience lasts 2 hours and can accommodate up to 10 guests ages 21 and up. Rates start at $50 per person. See Details

PaintYourPet

Oshkosh, WI

PaintYourPet 'PaintYourPet' is a pet-friendly Airbnb Experience hosted by Jessie. With prior approval, your well-behaved pooch can sit alongside you as you paint his picture. Contact host prior to booking for approval of bringing Fido. Get creative while making an impact within the community. Proceeds will be donated to a nonprofit. Send a picture of your pet along and a local artist will sketch it onto a canvas. When you arrive, it's your chance to get creative and finish the painting of your pet. The experience lasts 2 hours and can accommodate up to 10 guests ages 16 and up. Rates start at $38 per person. See Details

Milwaukee Scavenger Hunt: a Splash of Color

Milwaukee, WI

Milwaukee Scavenger Hunt: a Splash of Color Milwaukee Scavenger Hunt: A Splash of Color is a dog-friendly self-guided tour in Milwaukee, WI. Walk from landmark to landmark with Fido to discover art, culture, history, and solve riddles that can only be found on location. During the scavenger hunt you will answer trivia questions, complete photo challenges and earn extra points for discovering hidden treasure. Leashed pups are welcome to take part in this app-led hunt that can be completed at any time. See Details