The second largest city on Lake Michigan (with Chicago being the largest), Milwaukee is more than the beer capital of America. With top-notch marinas and the multitude of nearby attractions, this city is an ideal weekend destination. There are plenty of award-winning restaurants, acclaimed breweries and eclectic flavors to enjoy when visiting Milwaukee. Like most larger cities, there almost always a concert or festival scheduled. See details at VISIT Milwaukee.

Explore the riverfront area with your dinghy for great waterfront options. All riverfront restaurants offer short-term docking. Farther upstream on the Milwaukee River are several more outstanding eateries with free day docks in the Riverwalk area.