Milwaukee has an uncanny ability to balance 21st-century energy with 19th-century German heritage. In just one weekend, you can explore an 1892 beer baron's mansion, throw calorie counts away at a Friday night fish fry, browse a high-end art festival along Lake Michigan, go for a virtual ride on a vintage Harley-Davidson motorcycle and nibble stuffed grape leaves on leather couches at a Turkish restaurant. And that's just the beginning. Milwaukee's diversity—and its ability to turn gritty warehouses into condos and storefronts—gives it an authentic city feel. But its relatively small size and compact downtown make it easy for first-timers to navigate.
What to do
Cathedral Square Park's Jazz in the Park Held June through September in the East Town district, Jazz in the Park offers free live music Thursday evenings. Bring a picnic, or dine at one of the nearby restaurants. (414) 271-1416; easttown.com
Discovery World In an airy white building that juts out into Lake Michigan, this museum provides hands-on ways to learn about science and the environment. Les Paul's House of Sound, a recent addition to the museum, explores the history of the electric guitar and lets visitors craft their own songs. (414) 765-9966; discoveryworld.org
Festivals Summerfest is the biggest. (414) 273-2680; summerfest.com Many others reflect the city's heritage, such as Irish Fest and German Fest. The Wisconsin State Fair near Milwaukee also is a big draw (be sure to sample a cream puff, a state fair tradition). (800) 844-3247; wistatefair.com
Grohmann Museum The rooftop level is a beautiful sculpture garden with larger-than-life-size bronzes. (414) 277-2300; msoe.edu/museum
Harley-Davidson Museum Opened in 2008, this 20-acre campus is a must-see for riders and a worth-the-trip spot for the mildly curious. It tells the story of a scrappy Milwaukee company that began in 1903 as a motorcycle innovator and has evolved into a brand that embodies the feeling of wind in your hair. Hands-on exhibits let gearheads tinker with old engines, and a movie room lets you board one of 10 Harleys and "ride" along Midwest farms and rivers. (414) 287-2789; h-dmuseum.com
Historic Third Ward A 12-square-block neighborhood of 1890s warehouses now holds boutiques, galleries, cafes and the Broadway Theatre Center. A highlight: Milwaukee Public Market, a collection of specialty food growers and shops selling goods and serving lunch and dinner. (414) 273-1173; historicthirdward.org
Milwaukee Art Museum About 30,000 works take visitors on a chronological tour of art from the 13th century to the present. The postmodern Quadracci Pavilion, completed in 2001, houses a grand reception hall, temporary exhibits and a cafe. The pavilion's 217-foot exterior wings, which open twice a day, have become the city's visual icon. (414) 224-3200; mam.org
MillerCoors Milwaukee Brewery Take a free half-hour walking tour to see the steps of the brewing process. The brewery, one of the world's largest, is on land originally purchased by Miller founder Frederick J. Miller in 1855. (414) 931-2337; millercoors.com
Miller Park Catch the Milwaukee Brewers in this major-league ballpark with a retractable roof and reasonably priced tickets. Also, behind-the-scenes tours take visitors to the dugout, luxury suite level and other areas. (414) 902-4400; brewers.com
Old World Third Street This former German community has restaurants, 19th-century storefronts and cobbled streets. Usinger's, a fourth-generation business, sells 70 sausage varieties. (414) 276-9105; usinger.com
Pabst Mansion Beer baron Frederick Pabst built this 1890s Flemish Renaissance mansion; the restored home hosts exhibits and tours. (414) 931-0808; pabstmansion.com
Click ahead for recommendations on where to eat and where to stay in Milwaukee.