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're leashed and there's 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

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

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

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

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

All Hands Sailing

Bayfield, WI

All Hands Sailing All Hands Sailing, located in Bayfield, WI, welcomes pets on private sailing excursions. Your canine companion will be treated like royalty while you enjoy a dog-friendly picturesque sail around the Apostle Islands. To ensure your pup’s safety, remember to bring a life jacket and take him for a walk before your journey, as the trips typically last half a day or longer. 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

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

Original Wisconsin Ducks

Wisconsin Dells, WI

Original Wisconsin Ducks Original Wisconsin Ducks is an amphibious duck boat tour in Wisconsin Dells, WI. This pet-friendly tour company invites your leashed pup to sit beside you on the duck boat while you enjoy an informative and scenic group tour over land and water. Tickets can be purchased in advance on their website. 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

US Ghost Adventures Milwaukee

Milwaukee, WI

US Ghost Adventures Milwaukee You and Fido are invited to embark on a nightly ghost tour with pet-friendly US Ghost Adventures, available year-round in Milwaukee, WI . Dive deep into the eerie history of the area with expert local guides on a 1-mile route leading you through the city’s most haunted and historic spots with your leashed pup, including the Hilton Grand Inn, the Pabst Theater, and Milwaukee Riverwalk. See Details

NorDoor Cruises by The Shoreline

Gills Rock, WI

NorDoor Cruises by The Shoreline Bring Fido with you on a charter cruise with pet-friendly NorDoor Cruises by The Shoreline in Gills Rock, WI. They offer various tour packages to choose from, including lighthouse, educational, and scenic boat tours departing from the tip of Door County. You'll also get a chance to meet Snickers, the famous Door County Dock Dog. Be sure to bring a life jacket for your pup to wear while on board the boat. See Details

US Ghost Adventures Madison

Madison, WI

US Ghost Adventures Madison You and Fido are invited to embark on an unforgettable nightly ghost tour with dog-friendly US Ghost Adventures, available year-round in Madison, WI. Dive deep into the eerie history of the area with expert local guides on a 1-mile route leading you through the city’s most haunted and historic spots with your leashed pup, including the Children’s Museum, the Boar & Barrel building, and the Majestic Theater. See Details

US Ghost Adventures Green Bay

Green Bay, WI

US Ghost Adventures Green Bay Bring Fido on the US Ghost Adventures top-rated, pet-friendly ghost tour running all year round in Green Bay, WI. Explore 1 mile of haunted history with stops at Greater Green Bay YMCA, Bellin Building, Brown County Library and Brown County Public Health. Outdoor-only, leashed pups welcome—ideal for private groups and bachelorettes. Book now if you dare! See Details

US Ghost Adventures Cedarburg

Cedarburg, WI

US Ghost Adventures Cedarburg Leashed dogs are welcome to join their owners on a top-rated, pet-friendly US Ghost Adventures tour in Cedarburg, WI, offered year-round. Walk approximately one mile with expert guides through haunted sites like Stagecoach Inn, Rivoli Theater, Washington House Inn, and Cedarburg City Hall. Dogs are welcome outside only. 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

Ninja Charters

Port Washington, WI

Ninja Charters Ninja Charters in Port Washington, WI, offers boat fishing trips on Lake Michigan for salmon and trout. Well-behaved dogs are welcome aboard the pet-friendly boat, so your furry friend can join the adventure while you reel in trophy catches. Enjoy a memorable fishing experience with stunning lake views. See Details

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