How far is Milwaukee, WI from Baileys Harbor, WI?
The driving distance from Milwaukee, WI to Baileys Harbor, WI is about 176.5 miles (284 km), with a travel time of about 03h 32m by car.
- The straight-line flight distance is about 145.3 miles (233.8 km).
- For a round trip, plan for roughly 07h 05m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 6:00 AM to 8:00 AM CDT.
Reverse, save, or send this route
This drive is better planned with a longer stop or an overnight stay. Copy the route link, send it to another device, or print a clean version before you head out.
This drive is better planned with a longer stop or an overnight stay.
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 03h 32m.
An early departure helps you fit a real stop into the day without turning the return into a late-night drive.
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.
Sunny
Driving Route Map
The map below follows the saved road route between Milwaukee and Baileys Harbor.
Turn-by-Turn Driving Directions
Step-by-step road directions between Milwaukee and Baileys Harbor.
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1
Start on North Milwaukee Street
14 m · 6 sec · North Milwaukee Street
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2
Turn right onto East Wisconsin Avenue
1269 ft · 42 sec · East Wisconsin Avenue
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3
Turn right onto North Plankinton Avenue
1143 ft · 37 sec · North Plankinton Avenue
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4
Turn left onto West Kilbourn Avenue
1494 ft · 51 sec · West Kilbourn Avenue
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5
Take the ramp straight toward I 43 North
1.2 km · 2 min
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6
Merge slight left onto North-South Freeway
20.1 mi · 25 min · North-South Freeway
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7
Continue straight
91.9 mi · 1 hr 38 min
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8
Take the exit slight right toward WI 54, WI 57: Sturgeon Bay, Algoma
1870 ft · 46 sec
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9
Keep slight right
1749 ft · 43 sec
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10
Merge slight left
33 mi · 38 min
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11
Continue on State Highway 42/57
8.2 mi · 13 min · State Highway 42/57
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12
Enter the roundabout and take exit 2 toward State Highway 42
32 m · 2 sec · State Highway 42/57
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13
Exit the rotary onto State Highway 42/57
1.3 mi · 2 min · State Highway 42/57
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14
Enter the roundabout and take exit 1 toward State Highway 42/57
31 m · 2 sec · State Highway 42/57
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15
Exit the roundabout onto State Highway 42/57
1.2 mi · 2 min · State Highway 42/57
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16
Continue on Egg Harbor Road
537 ft · 9 sec · Egg Harbor Road
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17
Turn slight right
18.4 mi · 29 min
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18
Turn left onto County Road F
121 m · 17 sec · County Road F
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19
Turn left onto School Lane
80 m · 19 sec · School Lane
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20
Arrive at your destination
0 m · 1 sec · School Lane
Car Route Details
A richer read on the saved driving route between Milwaukee and Baileys Harbor.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
North-South Freeway
Continue straight
91.9 mi · 01h 38m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A longer out-and-back drive
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
Sunny leaving Milwaukee and Sunny near Baileys Harbor.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Milwaukee to Baileys Harbor?
The road trip is about 176.5 miles (284 km) and usually takes 03h 32m in normal driving conditions.
Is this a same-day trip or an overnight route?
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
What is the halfway point on this route?
Kellnersville is a useful midpoint, sitting about 88.2 miles from Milwaukee and 88.2 miles from Baileys Harbor.
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 31.2 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 6:00 AM to 8:00 AM CDT. If you want a more comfortable same-day return, try to leave by 9:54 AM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $23.49 one way or $46.99 round trip. Estimated CO2 is about 55.4 kg one way.
What should you check before leaving?
Before you leave, expect Sunny around Milwaukee and Sunny near Baileys Harbor.
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 Milwaukee and Baileys Harbor. Straight-line distance: 145.28 mi (233.8 km).
#1 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 |
#2 Baileys Harbor
Civil town in Door County, Wisconsin
| Population | 1,048 |
| Coordinates | 45.0649900, -87.1242700 |
| Altitude | 182 |
| Country | United States |
End: Baileys Harbor (-87.12427, 45.06499)
Estimated Travel Time
Distance: 284 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 05h 52m |
| 40 mph (64.37 km/h) | 04h 24m |
| 50 mph (80.47 km/h) | 03h 31m |
| 60 mph (96.56 km/h) | 02h 56m |
| 70 mph (112.65 km/h) | 02h 31m |
| 80 mph (129 km/h) | 02h 12m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $23.49 | $46.99 |
| Mid-grade | $4.25 | $26.50 | $52.99 |
| Premium | $4.65 | $28.99 | $57.99 |
| Diesel | $5.30 | $33.04 | $66.09 |
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.