How far is Milwaukee, WI from Lake Mills, WI?
The driving distance from Milwaukee, WI to Lake Mills, WI is about 53.6 miles (86.2 km), with a travel time of about 01h 03m by car.
- The straight-line flight distance is about 50.8 miles (81.8 km).
- For a round trip, plan for roughly 02h 06m 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 01h 03m.
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.
Fourth-class city in Waukesha County, Wisconsin, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Slight Chance Snow Showers then Mostly Sunny
Mostly Sunny
Driving Route Map
The map below follows the saved road route between Milwaukee and Lake Mills.
Turn-by-Turn Driving Directions
Step-by-step road directions between Milwaukee and Lake Mills.
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1
Start on North Milwaukee Street
14 m · 9 sec · North Milwaukee Street
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2
Turn left onto East Wisconsin Avenue
671 ft · 25 sec · East Wisconsin Avenue
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3
Turn right onto North Jackson Street
894 ft · 29 sec · North Jackson Street
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4
Take the ramp slight right toward I 794 West
1550 ft · 28 sec
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5
Merge slight right onto East-West Freeway
1269 ft · 22 sec · East-West Freeway
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6
Continue on East-West Freeway
17.1 mi · 22 min · East-West Freeway
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7
Keep slight left to continue on East-West Freeway
34.3 mi · 37 min · East-West Freeway
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8
Take the exit slight right toward WI 89: Lake Mills, Waterloo
1555 ft · 53 sec
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9
Keep slight left to continue on State Highway 89
141 m · 15 sec · State Highway 89
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10
Continue on North Main Street
1.4 km · 2 min · North Main Street
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11
Turn sharp right onto West Madison Street
10 m · 1 sec · West Madison Street
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12
Arrive at your destination
0 m · 1 sec · West Madison Street
Car Route Details
A richer read on the saved driving route between Milwaukee and Lake Mills.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
East-West Freeway
Keep slight left to continue on East-West Freeway
34.3 mi · 00h 37m
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.
Slight Chance Snow Showers then Mostly Sunny leaving Milwaukee and Mostly Sunny near Lake Mills.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Milwaukee to Lake Mills?
The road trip is about 53.6 miles (86.2 km) and usually takes 01h 03m 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?
Delafield is a useful midpoint, sitting about 26.7 miles from Milwaukee and 26.8 miles from Lake Mills.
How much longer is the road route than the straight-line distance?
The direct path is about 50.8 miles (81.8 km), while the road route adds roughly 2.8 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 4:24 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $7.13 one way or $14.25 round trip. Estimated CO2 is about 16.8 kg one way.
What should you check before leaving?
Before you leave, expect Slight Chance Snow Showers then Mostly Sunny around Milwaukee and Mostly Sunny near Lake Mills.
Stop Ideas Near Delafield
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 Delafield.
Milwaukee Intermodal Station
Milwaukee Airport Railroad Station
Beaver Dam, WI
Sturtevant station
Flight Path Map
This map shows the direct air route between Milwaukee and Lake Mills. Straight-line distance: 50.83 mi (81.81 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 Lake Mills
City in Iowa, USA
| Population | 2,135 |
| Coordinates | 43.0813900, -88.9117700 |
| Altitude | 256 |
| Country | United States |
End: Lake Mills (-88.91177, 43.08139)
Estimated Travel Time
Distance: 86 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 01h 47m |
| 40 mph (64.37 km/h) | 01h 20m |
| 50 mph (80.47 km/h) | 01h 04m |
| 60 mph (96.56 km/h) | 00h 53m |
| 70 mph (112.65 km/h) | 00h 45m |
| 80 mph (129 km/h) | 00h 40m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $7.13 | $14.25 |
| Mid-grade | $4.25 | $8.04 | $16.08 |
| Premium | $4.65 | $8.80 | $17.59 |
| Diesel | $5.30 | $10.02 | $20.05 |
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 19, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.