How far is Baileys Harbor, WI from Milwaukee, WI?
The driving distance from Baileys Harbor, WI to Milwaukee, WI is about 168.5 miles (271.1 km), with a travel time of about 02h 55m by car.
- The straight-line flight distance is about 145.3 miles (233.8 km).
- For a round trip, plan for roughly 05h 51m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 8:00 AM to 10:00 AM CDT.
Reverse, save, or send this route
This route works well as a day trip with time at the destination. Copy the route link, send it to another device, or print a clean version before you head out.
This route works well as a day trip with time at the destination.
Flight Distance
Driving Distance
Gas Cost Calculator
Leave and Arrive Planner
Pick a departure time to see your estimated arrival and same-day return window.
Drive time stays fixed at 02h 55m.
A morning start gives you useful time at the destination and keeps the return out of the late evening.
You are leaving earlier than the recommended window, which gives you extra margin for breaks and traffic.
Halfway Point
A useful midpoint for breaks, coffee, or meeting in the middle.
Village in Manitowoc County, Wisconsin
Route Weather Snapshot
Check the forecast at both ends before you head out.
Driving Route Map
The map below follows the saved road route between Baileys Harbor and Milwaukee.
Turn-by-Turn Driving Directions
Step-by-step road directions between Baileys Harbor and Milwaukee.
-
1
Start on School Lane
80 m · 22 sec · School Lane
-
2
Turn right onto County Road F
121 m · 12 sec · County Road F
-
3
Turn right onto State Highway 57
18.3 mi · 29 min · State Highway 57
-
4
Turn left onto State Highway 42/57
1.4 mi · 2 min · State Highway 42/57
-
5
Enter the roundabout and take exit 2 toward State Highway 42/57
39 m · 2 sec · State Highway 42/57
-
6
Exit the roundabout onto State Highway 42/57
1.3 mi · 2 min · State Highway 42/57
-
7
Enter the roundabout and take exit 2 toward State Highway 42
40 m · 2 sec · State Highway 42/57
-
8
Exit the rotary onto State Highway 42/57
8.2 mi · 13 min · State Highway 42/57
-
9
Continue on State Highway 57
33.6 mi · 38 min · State Highway 57
-
10
Take the exit slight right toward I 43 South: Milwaukee
2400 ft · 59 sec
-
11
Merge slight left
112.2 mi · 2 hr 3 min
-
12
Take the exit slight right toward WI 145: Fond du Lac Avenue, McKinley Avenue
1377 ft · 36 sec
-
13
Turn left onto West Fond du Lac Avenue
2518 ft · 1 min · West Fond du Lac Avenue
-
14
Continue on West McKinley Avenue
1618 ft · 54 sec · West McKinley Avenue
-
15
Continue on East Knapp Street
148 m · 18 sec · East Knapp Street
-
16
Turn right onto North Water Street
2690 ft · 1 min · North Water Street
-
17
Turn left onto East Mason Street
687 ft · 29 sec · East Mason Street
-
18
Turn right onto North Milwaukee Street
123 m · 14 sec · North Milwaukee Street
-
19
Arrive at your destination
0 m · 1 sec · North Milwaukee Street
Car Route Details
A richer read on the saved driving route between Baileys Harbor and Milwaukee.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
I 43 South
Merge slight left
112 mi · 02h 03m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A comfortable day-trip route
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
Sunny leaving Baileys Harbor and Sunny near Milwaukee.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Baileys Harbor to Milwaukee?
The road trip is about 168.5 miles (271.1 km) and usually takes 02h 55m in normal driving conditions.
Is this a same-day trip or an overnight route?
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
What is the halfway point on this route?
Kellnersville is a useful midpoint, sitting about 88.7 miles from Baileys Harbor and 79.7 miles from Milwaukee.
How much longer is the road route than the straight-line distance?
The direct path is about 145.3 miles (233.8 km), while the road route adds roughly 23.2 extra miles because roads do not follow the straight air line.
When is the best time to leave for this route?
A good departure window is usually 8:00 AM to 10:00 AM CDT. If you want a more comfortable same-day return, try to leave by 12:38 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $22.40 one way or $44.80 round trip. Estimated CO2 is about 52.8 kg one way.
What should you check before leaving?
Before you leave, expect Sunny around Baileys Harbor and Sunny near Milwaukee.
Stop Ideas Near Kellnersville
Useful break, food, and waypoint ideas within about 15 miles of the route midpoint.
Transit and Meeting Points
Useful pickup, handoff, or rendezvous points close to Kellnersville.
Manitowoc, Wisconsin
Green Bay, Wisconsin
Appleton, Wisconsin
Sheboygan, Wisconsin
Flight Path Map
This map shows the direct air route between Baileys Harbor and Milwaukee. Straight-line distance: 145.28 mi (233.8 km).
#1 Baileys Harbor
Civil town in Door County, Wisconsin
| Population | 1,048 |
| Coordinates | 45.0649900, -87.1242700 |
| Altitude | 182 |
| Country | United States |
#2 Milwaukee
The thirtieth most populous city in the United States and the center of the Milwaukee metropolitan area.
| Population | 589,067 |
| Coordinates | 43.0389000, -87.9064700 |
| Altitude | 188 |
| Country | United States |
End: North Milwaukee Street (-87.906566, 43.038895)
Estimated Travel Time
Distance: 271 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 05h 36m |
| 40 mph (64.37 km/h) | 04h 12m |
| 50 mph (80.47 km/h) | 03h 22m |
| 60 mph (96.56 km/h) | 02h 48m |
| 70 mph (112.65 km/h) | 02h 24m |
| 80 mph (129 km/h) | 02h 06m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $22.40 | $44.80 |
| Mid-grade | $4.25 | $25.26 | $50.53 |
| Premium | $4.65 | $27.64 | $55.29 |
| Diesel | $5.30 | $31.51 | $63.01 |
Assumes 8.3 L/100 km (about 28.3 MPG). CO2 is an estimate and varies by vehicle, fuel blend, traffic, and terrain.
Prices in Wisconsin · Apr 23, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.