If you’re looking for a unique way to spend a day outdoors, exploring hidden corners of Wisconsin by kayak is a great place to start. The best kayak tours Wisconsin has to offer aren’t just about the views (though they’re definitely worth the trip). They’re about getting on the water and discovering parts of the state you might never see otherwise.

Whether you're after a calm paddle through winding wetlands or a multi-day river journey with campfires and good company, we have you covered. Here are our top 10 kayak tours in one of the most scenic states in the U.S.

1. Cave Point Kayak Tour

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If you’re chasing classic outdoor adventures Wisconsin is known for, this Cave Point Kayak Tour is a must. 

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Paddle along the stunning shoreline of Lake Michigan, weaving through thousand-year-old limestone caves and past the cliffs of Cave Point County Park and Whitefish Dunes. Great for beginners and seasoned paddlers alike, the tour includes a tandem kayak, a life vest, and a paddle lesson to get you started. Led by experienced guides, it’s a safe, scenic way to explore Door County’s natural beauty from the water. Multiple tour times are available to fit your schedule.

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Duration: 2 hours

Price: From $50 per person

Location: Cave Point Paddle and Pedal, Sturgeon Bay

Difficulty Level: Beginner

2. Small Group Kayak Tour of Skyline in Milwaukee

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Perfect for beginners, this 1.5-hour guided tour offers a fresh view of Milwaukee:  from the water. Paddle along the Milwaukee River toward downtown as your guide shares fun facts, local history, and sights like the RiverWalk, Summerfest grounds, and even the Bronze Fonz. It’s a no-stops, easygoing float that gives you a feel for the city’s culture and skyline from a unique perspective.

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Also, keep in mind: Instruction is provided before launch, so no experience is needed (wink, wink). 

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Duration: 1 hour and 30 minutes

Price: From $83 per person

Location: S Water St, Milwaukee

Difficulty Level: Beginner to Intermediate

3. Lil Drifty

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Lil Drifty is a choose-your-own-adventure-style bike and paddle event that only happens once a year in August. It’s the perfect summer escape for the wild-at-heart and one of the most offbeat kayak tours in Wisconsin.

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It kicks off Thursday evening at Token Creek Campground with food, music, and a campfire. On Friday, you’ll bike through scenic backroads, and swap wheels for a canoe or kayak at Sauk Prairie. After a day on the water, you’ll set up camp on a river sandbar under the stars. Saturday brings more paddling and a final ride back toward the finish. It all winds down at Drifty Fest with music, food, and a few well-earned cold drinks.

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Through and through, it’s weird, wild, and wonderfully fitting to stay drifty.

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Duration: 3 days

Price: Individual (1 kayak): $300; Team of 2 (1 canoe): $550; Team of 3 (1 canoe): $750 

Location: Sauk Prairie

Difficulty Level: Beginner to Intermediate

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4. Milwaukee Cheese Curd Kayak Tour

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Blending paddling with snacking, this is one of the tastiest kayak tours Wisconsin has to offer. 

Brew City Kayak’s 4-hour Cheese Curd Tour takes you through Milwaukee’s river system with stops at iconic spots like the Harley-Davidson Museum and Milwaukee Public Market. You’ll get paddle instruction, a life jacket, and you guessed it —cheese curds included. The route may vary based on group interest, but the vibe is always relaxed and full of flavor. It’s a quirky, low-key way to explore the city, soak in its history, and snack on a Wisconsin staple along the way.

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Duration: 4 hours

Price: From $175 per person

Location: S Water St, Milwaukee

Difficulty Level: Intermediate

5. Death's Door Bluff Kayak Tour

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This small-group tour combines peaceful paddling with a sense of discovery and adventure. Glide through the waters near Door Bluff County Park to uncover Native American pictographs, the sunken Fleetwing schooner, and the quiet beauty of coastal rock cairns. With sweeping views of Washington Island, this route offers both natural wonder and local lore. 

Limited to just 12 paddlers, the tour includes gear, safety instruction, and a paddle lesson to get you started. Morning and afternoon departures are available, and professional photos can be purchased if you want to capture the experience.

Duration: 1 hour, 45 minutes

Price: From $85 per person

Location: Garrett Bay Rd, Ellison Bay

Difficulty Level: Intermediate

6. Door County Wetlands Kayak Tour

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Trade crashing waves for still water and birdsong on this serene 2-hour paddle through Door County’s hidden wetlands. Drift through towering cedars and balsam firs as your guide shares stories about the forest’s rare ecosystem and the wildlife that call it home. You might spot a great blue heron lifting off the water or even a bald eagle overhead. 

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With calm conditions, an easy pace, and hands-on instruction, this tour is perfect for families, beginners, or anyone craving a quiet escape. It’s less adrenaline, more awe. Ultimately, it’s a reminder that sometimes, the softest adventures stick with you the longest.

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Duration: 1 hour, 45 minutes

Price: From $75 per person

Location: Rieboldt Creek, Baileys Harbor

Difficulty Level: Beginner 

7. Sea Kayaking in Door County

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Looking for outdoor adventures Wisconsin with a touch of comfort? This premium sea kayaking tour offers stability, style, and scenery. 

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Paddle solo in a sleek, modern sea kayak (no soggy sit-on-tops here) as you explore Door County’s tallest bluff and glide above a 19th-century shipwreck. Certified guides (and naturalist storytellers) lead small groups on a 2-hour journey through coastal history, Native American pictographs, and wild shoreline beauty. 

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Ideal for beginners who want more than the usual, this experience is all about personalized attention, clean gear, and quiet moments on the water.

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Duration: 2 hours

Price: From $69 per person

Location: Garrett Bay Road Boat Ramp, Ellison Bay

Difficulty Level: Beginner to Intermediate

8. Kayak & Hike Adventure Tour at Peninsula State Park

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For a true Door County deep dive, this half-day tour blends paddling and hiking in one unforgettable experience. You'll kayak to remote Horseshoe Island, pass an 1800s lighthouse, and hike above ancient sea caves at Eagle Bluff — all with a certified Wisconsin Naturalist guiding the way. 

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Along the route, learn about Native American history, French explorers, loggers, and 400-million-year-old rock formations. It’s part outdoor classroom, part Great Lakes adventure, and all-around epic. Did we mention it also includes a picnic lunch and jaw-dropping views throughout?

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Duration: 4 hours

Price: From $185 per person

Location: Tennison Bay Kayak Launch, Fish Creek

Difficulty Level: Intermediate

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9. Door County Sunset Tour

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Looking for unforgettable weekend getaways in Wisconsin for adventure lovers? This sunset kayak tour is the perfect way to end your day. 

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Launching from the charming village of Ephraim, you’ll paddle along the shores of Peninsula State Park, passing dramatic bluffs and lush shoreline as the sun dips low over Green Bay. With small group sizes and friendly guides, you’ll get personal attention and, maybe, even a chance to explore Horseshoe Island.  

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Duration: 2 hours

Price: From $79 per person

Location: Ephraim Boat Rental, Water St S, Ephraim

Difficulty Level: Beginner

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Discover the Best Kayak Tours Wisconsin Has to Offer

When adventure calls, you answer. You step beyond the usual, push your limits, and come back with stories that stick with you long after the trip ends. And when it comes to unforgettable outdoor escapes, the best kayak tours Wisconsin has to offer are just a tap away.

From peaceful wetland paddles to offbeat, multi-day river journeys, there's something here for every kind of adventurer. 

Feeling inspired? Start your journey with Lost Travel, where we design adventure-driven experiences for people like you. Reach out to us and let’s make your next adventure one worth telling.

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