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Dog Friendly Restaurants in Waukesha, WI

There are 18 dog-friendly restaurants in Waukesha that welcome dogs at their outdoor tables. Need help to decide where to eat? Here’s a detailed description of each restaurant, along with pictures and reviews from other dog owners. Coming from out of town? Get a discounted rate on pet friendly hotels in Waukesha. Bone appetit!

Pet Friendly Steaming Cup

Steaming Cup

Located in the historic Nickell building in downtown Waukesha, the Steaming Cup is a coffee shop with three dog-friendly tables outside. On the drinks menu, you'll find a honey latte, a house-blended lavender chai, herbal teas, and a whole host of interesting concoctions. You can accompany your beverage with something from the food menu, such as soup, sandwiches, and salads. Alternatively, for something a little sweeter, you could try an item from the scratch-made bakery, like a scone, a muffin, a slice of coffee cake, a brownie, or a cookie. The Steaming Cup is open Monday to Tuesday from 6:30am to 5:00pm, Wednesday to Thursday from 6:30am to 8:00pm, Friday to Saturday from 6:30am to 10:00pm, and Sunday from 8:00am to 2:00pm.

Pet Friendly The Coffee Talk Bakery

The Coffee Talk Bakery

The Coffee Talk Bakery

The Coffee Talk Bakery is a dog-friendly spot to find baked goods, breakfast, and lunch in Waukesha. Visitors to the Bakery can head to one of its few outdoor tables to enjoy a stack of Raspberry Buttermilk Pancakes alongside Fido. Coffee Talk's menu includes pancakes, quiche, breakfast and lunch sandwiches, paninis, and soups. Muffins, pies, cookies, bars, sweet breads, cakes, scones, fudge, granola, gourmet pretzels and mustard, doughnuts, and seasonal baked goods are also available. Hot and cold coffees and teas, smoothies, cappuccinos, lattes, and lemonade are available to wash it all down. The Coffee Talk Bakery is open Wednesday through Friday from 6am to 2pm, Saturday from 8am to 2pm and Sunday from 8am to 12pm.

The Neighbors Bar & Grille

The Neighbors Bar & Grille

The Neighbors Bar & Grille, located in Waukesha, WI, is a casual, dog-friendly eatery where Fido is welcome to join you at an outdoor table. This local sports bar features homemade food such as wings, short rib sliders, quesadillas, panini sandwiches (try the Caramel Apple Bacon Grilled Cheese Panini!), gourment burgers, soup, salads, grilled pizza, Chipotle Mac and Cheese, fish tacos and more.

Raised Grain Brewing Co.

Raised Grain Brewing Co.

Raised Grain Brewing Co. offers craft beer and scratch-made eats ranging from gourmet pizzas to sandwiches. Food comes out as it is ready, so you may get your burgers and fries before you get your pizza. Well-behaved dogs are permitted on the outside patio. However, dogs are not permitted in the taproom or brewery. Take advantage of their online ordering system, RG Order, and order from your smartphone outside at your table.

Rochester Deli

Located in Historic Downtown Waukesha, the pet-friendly Rochester Deli has four or five outdoor tables where you can dine with your pup. There are all kinds of sandwiches available, and previous diners highly recommend one of the corned beef sammies like the Grilled Reuben or Dan's Corned Beef. There are signature paninis including Turkey Cheddar, Grilled Meatloaf, and more. Fresh salads and soups like Chicken Dumpling are also available. If you are looking for something sweet, Rochester Deli makes cookies and bars from scratch. Open Monday through Thursday 10am to 7pm, Friday 10am to 8pm, and Saturday 11am to 6pm. Closed on Sunday.

Mama D's Waukesha

Mama D's Waukesha

Dogs are welcome at seven outdoor tables at this coffeehouse. Mama D's Coffee serves coffee and espresso drinks, tea, pastries, desserts, all-day breakfast, and sandwiches. Popular menu items include the quiche of the day, baked oatmeal with berries and walnuts, breakfast burrito, waffle topped with Nutella and bananas, grilled cheese sandwich, turkey pesto panini, and crumb cake. Mama D's Coffee is open Monday - Friday 6am - 4pm, Saturday - Sunday 7am - 3pm.

Cousins Subs

Cousins Subs is a dog-friendly restaurant serving East Coast-style sub sandwiches to Waukesha locals and tourists alike. Cousins offers two outdoor tables to dog owners wanting to dig into a Chicken Bacon Cheddar grilled-to-order sub alongside Fido. Cousins Subs' menu is made up of soups and salads, and grilled-to-order, deli fresh and classic subs. A range of sides such as Wisconsin cheese curds, fries, chips, and cookies are also available. Please note that table service isn't available, so your dog will need to be tied up outside when you go in to order.

Culver's

Culver's is a dog-friendly restaurant serving its signature ButterBurgers and fresh frozen custard to Waukesha locals and tourists alike. Culver's offers a few outdoor tables to dog owners wanting to dig into a heap of Wisconsin Cheese Curds alongside their canine companion. Its menu is made up of premium chicken dishes, sandwiches, hearty soups, fresh salads, ButterBurgers, sides, and dinners such as North Atlantic Cod, Butterfly Jumbo Shrimp, Beef Pot Roast, and Chopped Steak. Those with room for dessert can indulge in fresh frozen custard, shakes, malts, or a float. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.

Gyros West

Gyros West, located in Waukesha, WI, is a casual joint that serves up a myriad of delicious Greek-American eats. Choose from menu options including omelettes, breakfast sandwiches, egg scrambles, skillets, waffles, appetizers, soups, salads, sandwiches, burgers, gyros, stir-fry, chicken, beef, seafood, and more. Fido is welcome to join you at one of their several pet-friendly outdoor tables while you enjoy your meal. Try the Athenian Chicken Shishkabob - marinated chicken, onions, green peppers, and tomatoes on a skewer, grilled, smothered in lemon sauce, and served over rice with pita bread and tzatziki sauce. Or go for the Chicago-Style Vienna Hot Dog with mustard, onions, tomatoes, pickles, relish, and hot peppers. Gyros West is open Monday through Saturday from 6am to 10pm, and Sunday from 6am to 9pm.

Cousins Subs

Cousins Subs is a dog-friendly restaurant serving East Coast-style sub sandwiches to Waukesha locals and tourists alike. Cousins offers three outdoor tables to dog owners wanting to dig into a Chicken Bacon Cheddar grilled-to-order sub alongside Fido. Cousins Subs' menu is made up of soups and salads, and grilled-to-order, deli fresh and classic subs. A range of sides such as Wisconsin cheese curds, fries, chips, and cookies are also available. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.

Dairy Queen

Dairy Queen is a dog-friendly quick-service food concept serving frozen sweet treats to Waukesha locals and tourists alike. three outdoor tables are available to dog owners with a sweet tooth wanting to indulge alongside Fido. Dairy Queen's menu is comprised of Grillburgers, artisan-style sandwiches, hot dogs, chicken strip baskets, snacks such as Pretzel Sticks with Zesty Queso, Potato Skins, and chicken snack melts, salads, and sides such as fries, onion rings, and cheese curds. Its menu also includes blizzards, hot desserts a la mode, dipped cones, sundaes, cold and blended coffees, shakes, malts, and Orange Julius drinks. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.

Culver's

Culver's is a dog-friendly restaurant serving its signature ButterBurgers and fresh frozen custard to Waukesha locals and tourists alike. Culver's offers a few outdoor tables to dog owners wanting to dig into a heap of Wisconsin Cheese Curds alongside their canine companion. Its menu is made up of premium chicken dishes, sandwiches, hearty soups, fresh salads, ButterBurgers, sides, and dinners such as North Atlantic Cod, Butterfly Jumbo Shrimp, Beef Pot Roast, and Chopped Steak. Those with room for dessert can indulge in fresh frozen custard, shakes, malts, or a float. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.

Jersey Mike's Subs

Jersey Mike's Subs

Since 1956, Jersey Mike's Subs has been serving authentic East Coast-style subs on freshly baked bread. At this location on W Sunset Drive, you and Fido can choose one of the pet-friendly tables outside. Their menu includes a number of hot sandwiches, such as Jersey Mike's Famous Philly: grilled onions, peppers and melted white American cheese; meatball and cheese, melted provolone, tomato sauce, and parmesan cheese; or the big kahuna cheese steak, grilled onions, peppers, mushrooms, jalapenos, and extra melted white American cheese. If you'd rather cut down on the carb's, why not try a grilled veggie wrap: grilled green bell peppers and onions, melted swiss and provolone, lettuce, tomato, and homestyle ranch dressing. Please note that table service isn't available, so your dog will need to be tied up outside when you go in to order.

The Destination

The Destination

The Destination in Waukesha, WI is pet friendly. Your leashed pup can join you at one of their four outdoor tables for comfort food and a drink. Be sure to try their Bloody Mary during your visit. Please note table service isn't available, so Fido must remain outside while you order.

Chocolate Factory Ice Cream

Chocolate Factory Ice Cream

Fido is welcome to join you at one of the three outdoor, pet-friendly tables at Chocolate Factory, an ice cream shop and eatery in Waukesha, WI. Enjoy menu items like sandwiches, salads, soups, desserts, a variety of ice cream flavors and more. Please note that table service isn’t available, so Fido will need to wait outside while you place your order inside.

Magellan’s On Main Street

Magellan’s On Main Street

Fido is welcome to join you at one of the seven outdoor pet-friendly tables at Magellan’s On Main Street, a bar and eatery in Waukesha, WI. Enjoy dinner menu items like salads, chicken strips, pizzas, sandwiches and more. They also serve wine and an extensive beer list.

Dave's Restaurant

Dave's Restaurant

Bring Fido to Dave's Restaurant, a classic American eatery in Waukesha, WI. Their outdoor patio features three pet-friendly tables where your four-legged companion can unwind beside you. Stop in for an all-day breakfast or lunch meal like steak and eggs or a crispy buffalo chicken wrap.

Sakura Japan

Dine beside your four-legged companion at the dog-friendly Sakura Japan Sushi & Grill in Waukesha, WI. The six outdoor tables make this a great spot to unwind during dinner. Menu items include chicken gyoza, seaweed salad, miso soup, beef asparagus teriyaki and sushi rolls.

David Alan Alan's Smokehouse and Saloon

David Alan Alan's Smokehouse and Saloon

David Alan Alan's Smokehouse and Saloon is a casual eatery that serves up a variety of tasty American fare. Fido is welcome to join you at one of their pet-friendly outdoor tables while you enjoy your meal. They even offer a special doggie menu just for your pup! Humans can start off with an order of the Smoked Bacon-Wrapped Jalapenos - jalapenos stuffed with spicy sausage and cream cheese, wrapped in bacon, and perfectly smoked. Next, chow down on the DAA Smokehouse Burger - a brisket/sirloin/chuck-blend burger topped with pulled pork, house bacon, smoked gouda, crispy onion straws, Kansas City BBQ, and Carolina BBQ on a brioche bun. David Alan Alan's Smokehouse and Saloon is open Monday through Thursday from 11am to 12am, Friday from 11am to 2am, Saturday from 11am to 2:30am, and Sunday from 9am to 12am.

Cafe Manna

Wonderful vegetarian full-service cafe utilizes Eco-friendly, all-scratch cooking techniques. Both outdoor patios are dog friendly.

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Waukesha, WI, US