City of Janesville, WI to Baileys Harbor, WI is 226.2 miles and takes about 4h 52m via Harrison Street, East Milwaukee Street, and Milton Avenue, with a fuel budget near $36 and enough daylight to finish in a day. This Midwest drive stays within Wisconsin for its entirety, primarily utilizing surface roads rather than interstate highways. Expect a straightforward trip, ideal for a single day of travel when you're looking to get from point A to point B without extensive highway time. The route offers a practical way to cover the distance, suitable for those who prefer navigating local roads.
Trip Pace
Same-day drive is realistic
A same-day return is possible, but it will make for a full day on the road.
Break Rhythm
1 planned break
Plan on a short reset every 3 to 4 hours to stay fresh behind the wheel.
Midpoint
113.1 miles from City of Janesville, WI
A natural place for your longest stop of the day
, about 2h 30m into the drive
.
Main Roads
Road
Distance
Duration
I 41
56.4 mi
1h
WI 26
44 mi
54m
WI 54
33.4 mi
38m
State Highway 26
33.3 mi
46m
WI 57
18.4 mi
29m
Milton Avenue
14.2 mi
20m
State Highway 42/57
10.7 mi
16m
I 43
4.7 mi
5m
Longest stretch:
I 41
— 56.4 mi, about 1h
Traffic on I-41
Hour-of-day weekday pattern from 140 FHWA count stations on your route.
Peak
4 PM
~3,248 veh/hr typical
· worst 3,819
Quietest
1 AM
~131 veh/hr
Peak-to-quiet ratio
24.8×
busier at peak than in the quiet hours
12a6anoon6p11p
Averaged across 104 weeks of 2023 FHWA Travel Monitoring Analysis System data. Weekday hours only (Mon–Fri).
Turn-by-Turn Driving Directions
Step-by-step road directions between City of Janesville, WI and Baileys Harbor, WI.
1
Start on East Court Street
148 ft·6 sec·East Court Street
2
Turn right onto Harrison Street
513 ft·26 sec·Harrison Street
3
Turn left onto East Milwaukee Street
0.2 mi·20 sec·East Milwaukee Street
4
Turn sharp right onto Milton Avenue
14 mi·20 min·Milton Avenue
5
Continue on WI 26
21 mi·26 min·WI 26
Use the straight lane.
6
Continue on WI 26
23 mi·27 min·WI 26
Use the straight lane.
7
Turn left onto Western Avenue
0.3 mi·51 sec·Western Avenue
8
At end of road, turn right onto CTH W
0.6 mi·1 min·West North Street
9
At end of road, turn left onto WI 26
0.9 mi·1 min·North Main Street
10
Continue on WI 26
5.6 mi·7 min·State Highway 26
11
Continue on WI 26
0.5 mi·1 min·Front Street
12
Continue on WI 26
6.7 mi·9 min·State Highway 26
13
Take the exit
0.5 mi·1 min
14
Merge onto US 151
3.8 mi·4 min·US 151
15
Take the exit
0.2 mi·24 sec
Toward WI 26 North: Rosendale
16
Keep slight right at fork
0.4 mi·46 sec
17
Turn left onto State Highway 26
10 mi·13 min·State Highway 26
18
Continue on WI 26
1.0 mi·2 min·South Main Street
19
Continue on WI 26
11 mi·15 min·State Highway 26
20
Turn left
0.3 mi·38 sec
Toward I-41_North: Appleton, Green_Bay
21
Merge onto I 41; US 41
56 mi·1 hr·I 41; US 41
Toward AppletonUse the straight / slight right lanes.
22
Take the exit
0.3 mi·33 sec
Toward I 43 South, US 141 South: Milwaukee
23
Keep slight left at fork
1.2 mi·2 min
Exit 170BToward I 43 South: Milwaukee
24
Continue on I 43
4.7 mi·5 min·I 43
25
Take the exit
0.2 mi·23 sec
Toward WI 54, WI 57, LMCT: Sturgeon Bay, Algoma
26
Keep slight left at fork
0.5 mi·58 sec
Toward WI 54 East, WI 57 North: Sturgeon Bay, Algoma
27
Merge onto WI 54; WI 57
33 mi·38 min·WI 54; WI 57
Toward WI 54 East, WI 57 North: Sturgeon Bay, Algoma
28
Continue on WI 42; WI 57
8.2 mi·12 min·State Highway 42/57
Use the straight lane.
29
Enter roundabout onto WI 42; WI 57
106 ft·1 sec·State Highway 42/57
30
Continue on WI 42; WI 57
1.3 mi·2 min·State Highway 42/57
31
Enter roundabout onto WI 42; WI 57
102 ft·2 sec·State Highway 42/57
32
Continue on WI 42; WI 57
1.2 mi·1 min·State Highway 42/57
33
Continue on WI 42; WI 57
0.1 mi·9 sec·Egg Harbor Road
34
Turn slight right onto WI 57
18 mi·29 min·WI 57
35
Turn left onto CTH F
397 ft·17 sec·County Road F
36
Turn left onto School Lane
261 ft·19 sec·School Lane
37
Arrive at destination
School Lane
Trip Plan
Given the 4-hour 52-minute estimated drive time and 226.2-mile distance, this trip is comfortably achievable in a single day. Aim to depart in the morning to allow ample time for any unscheduled stops or to simply enjoy the drive. Since the route primarily consists of surface roads, keep an eye on your fuel gauge; the estimated fuel cost is around $36, but it’s always wise to top off before leaving Janesville. With no designated longest stretch on highways, you'll have consistent opportunities to pause in towns along the way if needed.
Morning Departure
An early start around 7-8 AM gets you there with plenty of daylight left.
Evening Departure
A late afternoon start means arriving after dark. Morning is better.
You can normally do this drive in one day.
Plan roughly 1 meaningful break for fuel, food, and rest.
The halfway point lands around 113.1 miles from City of Janesville, WI, or about 2h 30m into the drive.
The longest continuous stretch on this route runs about 56.4 miles.
This is a comfortable same-day trip.
Departure
Before you leave
Start with fuel, water, and navigation already sorted so the first hour feels easy.
First stop
Around 50 miles or 1h 5m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 113.1 miles or 2h 30m in
This is the best place for your longest stop, a real meal, and a full fuel check.
Final approach
Final hour starts around 3h 52m
Traffic, exits, and arrival timing usually matter more near Baileys Harbor, WI than in the middle of the route.
Before You Leave
+
Open the route before leaving City of Janesville, WI so your first major turns are already loaded.
+
Leave with enough water and a charging cable within reach, not packed away.
+
Check your fuel range against the first long segment, especially if you are starting outside city service areas.
Day 1
Settle into the route from City of Janesville, WI
This is one driving day of about 226.2 miles and 4h 52m.
Your first comfortable stop window is around 50 miles from City of Janesville, WI.
This route can stay practical as a one-day drive if traffic stays reasonable.
Plan about 1 real break rather than only quick fuel stops.
The longest stretch is on I 41 for about 56.4 miles.
Where to Stop
Rest stops, refuel points, and overnight suggestions along this route.
Place data sourced from public business listings. Hours and availability may vary.
Heads-up: tricky spots
5 of 21
5 decision points cluster between mile 58.8 and 163 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
5
58.8 mi into trip|~1h 16m in|CTH W / West North Street
At end of road, turn right onto CTH W / West North Street
Navigation decision point
5
100 mi into trip|~2h 16m in
Turn left toward I-41_North: Appleton, Green_Bay
Multiple destination signs - pick the right one
Toward I-41_North: Appleton, Green_Bay
6
100.3 mi into trip|~2h 16m in|I 41; US 41
Merge onto I 41; US 41 toward Appleton
Merge point - match speed before joining. Lane positioning matters here
Use the straight / slight right lanes.
Toward Appleton
6
156.9 mi into trip|~3h 18m in
Keep slight left at fork toward I 43 South: Milwaukee
Highway fork - watch signs carefully
Exit 170B
Toward I 43 South: Milwaukee
6
163 mi into trip|~3h 26m in
Keep slight left at fork toward WI 54 East, WI 57 North: Sturgeon Bay, Algoma
Highway fork - watch signs carefully. Multiple destination signs - pick the right one
Toward WI 54 East, WI 57 North: Sturgeon Bay, A...
Fuel & Cost
Regular Gas
$37.73 one way
$75.47 round trip
$4.24/gal25.4 MPG avg79 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.61
$41.01
$82.02
premium
$5.26
$46.83
$93.67
diesel
$6.18
$55.03
$110.05
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$38
Meals
$25–$50
Total
$63–$88
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 79.1 kg one way.
Prices: EIA weekly data, 2026-10-12.
Driving Electric?
About $24 in charging
· 0 stops
· 67% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
67.9
0
$23.75
$10.86
Efficient EV
56.6
0
$19.79
$9.05
EV Truck/SUV
90.5
1
$31.67
$14.48
Gas CO2
79 kg
EV CO2
26 kg (67% less)
Plan for 0 charging stops, roughly every 270 miles. Allow 25-40 minutes per stop at a DC fast charger.
DC fast charging avg $0.35/kWh. Home charging avg $0.16/kWh. US grid CO2: 0.39 kg/kWh.
Travel Intel
Current conditions at both ends of the drive.
Forecast as of Oct 18, 2026
Origin
City of Janesville, WI
Morning
in City of Janesville on Monday
Local time
7:56 AM
CDT
Current temp
62°F
Sunny
SW 10 to 15 mph0% chanceLive forecast
Destination
Baileys Harbor, WI
Morning
in Baileys Harbor on Monday
Local time
7:56 AM
CDT
Current temp
60°F
Sunny
SW 20 to 24 mph0% chanceLive forecast
66°F
Kiel, WI
113 mi in
Seasonal Notes
Summer travel usually means heavier construction, hotter rest stops, and busier weekend traffic around major cities.
Winter travel shortens daylight, so a route that looks manageable on paper can feel much longer after dark.
Holiday weekends tend to make both departure and arrival windows slower than the raw route time suggests.
Time zone
Same local time
Origin and destination are on the same clock, so arrival timing is easier to judge at a glance.
Temperature spread
2 degrees cooler at arrival
A meaningful temperature swing is a good cue to rethink layers, water, and how soon you want to arrive.
Road read
4h 52m on the road
An early start around 7-8 AM gets you there with plenty of daylight left.
Weather data from the National Weather Service. Conditions may change; check closer to your travel date.
More Details
What kind of drive is this?
This 226.2-mile drive is entirely on surface roads, with 0% highway share, meaning you'll be navigating local streets and avenues for the full duration. The route is characterized by its continuous use of main roads like Harrison Street, East Milwaukee Street, and Milton Avenue. You can expect to notice frequent intersections and varying speed limits as you traverse through communities, rather than long stretches of high-speed highway cruising.
90% highway — fuel and pacing are the main things to plan.
37 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 56.4 mi on I 41.
How Hard Is This Drive?
8/10
This is a straightforward highway drive that stays mostly on I 41 and WI 26. This route has several spots where lane changes, forks, or exits need your full attention. The trickiest moment comes around 58.8 miles in near CTH W / West North Street.
Driving Effort8/10
Demanding - plan breaks and stay ahead of the key maneuvers
Balances navigation complexity with total wheel time.
This is a demanding drive. With 21 significant decision points across 226.2 miles, you will need to stay alert - especially through interchange areas and urban stretches. Consider splitting it into segments if you are not comfortable with fast highway navigation.
Where does it get tricky?
The main spots that need attention: at 58.8 miles (CTH W / West North Street): Navigation decision point; at 100 miles: Multiple destination signs - pick the right one; at 100.3 miles (I 41; US 41): Merge point - match speed before joining. Lane positioning matters here.
Elevation Profile
Mostly flat terrain
921 ft597 ft
Total Climb
160 ft
Total Descent
417 ft
Highest Point
921 ft
~64.6 mi in
Elevation Range
325 ft
Towns Mentioned on Route Signs
Based on OSRM destination-sign hints, not a full list of every settlement the road passes.
Between City of Janesville, WI and Baileys Harbor, WI, road signs point toward Green_Bay, Appleton, Lmct: Sturgeon Bay and Algoma.
Door County is a scenic part of the state of Wisconsin on the Door Peninsula in Lake Michigan. The easternmost part of Wisconsin, the scenic beauties of this peninsula along with maritime history makes this peninsula a very popular tourist destination in Wisconsin and the Great Lakes, especially in the Summer. Sturgeon Bay is the largest city in the county, and has its own article.
Top landmarks
•Cana Island Light — lighthouse in Wisconsin, United States
Doable as a same-day drive at 4h 52m. Total distance: 226.2 miles.
Family Friendly
Moderate complexity with 1 natural rest stops along the way.
Solo Traveler
4h 52m drive, comfortable solo distance.
First-Time Driver
Mostly highway driving (90%). Some complex stretches to watch for.
Frequently Asked Questions
The longest stretch is about 56.4 miles on I 41. The full list of main roads is in the Roads section above.
Yes — we found about 7 rest areas or service plazas within a short detour of the route (from OpenStreetMap). See the Rest Stops tab under Nearby Places for locations and mile markers. Plan to stretch, use the bathroom, and top off fluids every 2–3 hours on longer drives.
It helps. This route has a higher-than-average number of complex decision points, which get harder in the dark. If the last hour of the trip is on surface roads or mountain grades, aim to arrive at Baileys Harbor, WI before sunset when you can. Check the Trip Plan for departure windows that land you in daylight.
Only with planning. This is a long drive for kids — consider splitting it into two days rather than pushing through. Plan at least 1 meaningful breaks. There are 7 rest areas along the route for bathroom stops.
The main spots that need attention: at 58.8 miles (CTH W / West North Street): Navigation decision point; at 100 miles: Multiple destination signs - pick the right one; at 100.3 miles (I 41; US 41): Merge point - match speed before joining. Lane positioning matters here.
Possible but tiring. At 4.9 hours each way, an in-and-out day trip would put you behind the wheel for 9.7 hours — manageable with a long break at Baileys Harbor, WI, but most travelers stay overnight.
