Origin
Clayton, WI
Evening in Clayton on Saturday
Local time
8:11 PM
CDT
Current temp
41°F
Unavailable
Live forecast
Trip from Clayton, WI to Milwaukee, WI
Compiled and reviewed by the US Trip Planner planning team at COD Solutions Oy · Last reviewed Apr 19, 2026 · Editorial standards
Drive Time
5h 57m
Distance
313 mi
504 km
Drive Score
8/10
Great drive
Same Day?
Yes, doable
Fuel Cost
$49
one way
EV Charging
Unknown
Best Time to Leave
4 AM
5h 45m
★
6 AM
5h 58m
8 AM
6h 24m
10 AM
6h 7m
12 PM
6h 4m
3 PM
6h 8m
5 PM
6h 23m
8 PM
5h 50m
Estimated drive times based on typical traffic patterns. Actual times may vary with weather, construction, and real-time conditions.
Clayton, WI
Anete Lusina
Milwaukee, WI
Wikimedia Commons
Trip Overview
This 313-mile journey from Clayton to Milwaukee, Wisconsin, is estimated to take about 5 hours and 57 minutes of driving time. It's designed as a single-day trip, so you can complete it without needing an overnight stay. Expect to spend around $49 on fuel for this drive. The route primarily utilizes local roads, making it a more involved, turn-heavy experience rather than a straightforward highway cruise. Given its Midwest origins and destination within the same region, you'll be traversing familiar Midwestern landscapes throughout your drive.
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
156.5 miles from Clayton, WI
A natural place for your longest stop of the day , about 3h 5m into the drive .
Main Roads
| Road | Distance | Duration |
|---|---|---|
| I 94 | 280.8 mi | 5h 4m |
| State Highway 128 | 15 mi | 23m |
| County Highway P | 6.7 mi | 11m |
| 20th Street | 5.9 mi | 10m |
| US 63 | 1.7 mi | 2m |
| East-West Freeway | 1 mi | 1m |
| 1st Street | 0.4 mi | <1m |
| North Milwaukee Street | 0.3 mi | <1m |
Longest stretch:
I 94
— 280.8 mi, about 5h 4m
Turn-by-Turn Driving Directions
Step-by-step road directions between Clayton, WI and Milwaukee, WI.
1
Start on East Clayton Avenue
232 ft
·
12 sec
·
East Clayton Avenue
2
Turn right onto CTH D
0.1 mi
·
19 sec
·
County Highway D
3
Turn left onto US 63
1.7 mi
·
2 min
·
US 63
4
Turn left onto CTH P
1.6 mi
·
2 min
·
County Highway P
5
Continue on CTH P
5.9 mi
·
10 min
·
20th Street
6
Continue on CTH P
5.0 mi
·
8 min
·
County Highway P
7
Continue on WI 128
5.7 mi
·
10 min
·
State Highway 128
8
Continue on WI 128
0.4 mi
·
48 sec
·
1st Street
9
Turn right onto WI 128
0.2 mi
·
24 sec
·
West Oak Street
10
Continue on WI 128
9.1 mi
·
13 min
·
State Highway 128
11
Enter roundabout onto WI 128
158 ft
·
3 sec
·
State Highway 128
12
Continue on WI 128
484 ft
·
9 sec
·
State Highway 128
13
Enter roundabout
290 ft
·
5 sec
14
Continue
0.3 mi
·
38 sec
15
Merge onto I 94
210 mi
·
3 hr 45 min
·
I 94
Use the straight lane.
16
Keep slight left at fork onto I 94
71 mi
·
1 hr 18 min
·
I 94
Exit 138A
Toward I 94: Milwaukee
Use the straight / slight right lanes.
17
Keep slight left at fork onto I 794
1.0 mi
·
1 min
·
East-West Freeway
Exit 310C
Toward I 794 East: Lakefront, Port of Milwaukee
Use the straight / slight right lanes.
18
Take the exit
0.2 mi
·
24 sec
Exit 1E
Toward Jackson Street, Van Buren Street
19
Turn slight right
309 ft
·
14 sec
Toward Jackson Street South
Use the right lane.
20
Turn right onto East Saint Paul Avenue
0.1 mi
·
24 sec
·
East Saint Paul Avenue
21
Turn right onto WI 32
0.3 mi
·
47 sec
·
North Milwaukee Street
22
Arrive at destination
US 18; WI 32
Trip Plan
Since this 313-mile drive is best suited for a single day, you have the flexibility to depart at your convenience. Consider an early start to maximize daylight and minimize potential traffic, especially as you approach Milwaukee. With a driving duration of just under 6 hours, plan for at least one stop to stretch your legs and grab a quick bite. The main roads are County Highway D and County Highway P, so keep an eye on signage for these as you navigate. Be mindful of the numerous turns; using a GPS or reliable navigation app is highly recommended to avoid missing any crucial junctions.
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 156.5 miles from Clayton, WI, or about 3h 5m into the drive.
The longest continuous stretch on this route runs about 280.8 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 69 miles or 1h 31m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 156.5 miles or 3h 5m in
This is the best place for your longest stop, a real meal, and a full fuel check.
Final approach
Final hour starts around 4h 53m
Traffic, exits, and arrival timing usually matter more near Milwaukee, WI than in the middle of the route.
Before You Leave
+
Open the route before leaving Clayton, 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 Clayton, WI
This is one driving day of about 313 miles and 5h 57m.
Your first comfortable stop window is around 69 miles from Clayton, 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 94 for about 280.8 miles.
Where to Stop
Rest stops, refuel points, and overnight suggestions along this route.
Mid-route town
Meal stop
157 mi into the route
Best for: Lunch, fuel, and a longer reset
This sits close to the middle of the route, so it works well for the longest stop of the day.
Pacing Suggestions
Fuel and coffee
A short stop after about 69 miles helps settle the day before fatigue starts building.
Meal break
The midpoint is around 156.5 miles from Clayton, WI, which is a good place for a longer meal and fuel stop.
Before the longest stretch
Fuel checkTop up before I 94 if your tank is already low. That segment runs about 280.8 miles.
These stop ideas are pacing suggestions — the exact town or exit can change with traffic, hotel plans, and fuel range.
Heads-up: tricky spots
5 of 135 decision points cluster between mile 0 and 312.3 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
5
0 mi into trip
|
~0m in
|
CTH D / County Highway D
Turn right onto CTH D / County Highway D
Navigation decision point
5
30.1 mi into trip
|
~49m in
Enter roundabout
Roundabout - know your exit number before entering
8
240.7 mi into trip
|
~4h 35m in
|
I 94
Keep slight left at fork onto I 94 toward I 94: Milwaukee
Highway fork - watch signs carefully. Lane positioning matters here
Use the straight / slight right lanes.
Exit 138A
Toward I 94: Milwaukee
9
311.3 mi into trip
|
~5h 54m in
|
I 794 / East-West Freeway
Keep slight left at fork onto I 794 / East-West Freeway toward I 794 East: Lakefront, Port of Milwaukee
Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one
Use the straight / slight right lanes.
Exit 310C
Toward I 794 East: Lakefront, Port of Milwaukee
6
312.3 mi into trip
|
~5h 56m in
Take the exit toward Jackson Street, Van Buren Street
Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one
Exit 1E
Toward Jackson Street, Van Buren Street
Fuel & Cost
Regular Gas
$48.93 one way
$97.87 round trip
$3.97/gal
25.4 MPG avg
110 kg CO2
| Fuel Type | $/gal | One Way | Round Trip |
|---|---|---|---|
| midgrade | $4.36 | $53.73 | $107.46 |
| premium | $4.89 | $60.23 | $120.47 |
| diesel | $5.61 | $69.11 | $138.21 |
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$49
Meals
$25–$50
Total
$74–$99
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 109.5 kg one way. Prices: EIA weekly data, 2026-04-13.
Driving Electric?
About $33 in charging · 1 stop · 66% less CO2
| Vehicle Type | kWh | Stops | DC Fast | Home Charge |
|---|---|---|---|---|
| Average EV | 93.9 | 1 | $32.86 | $15.02 |
| Efficient EV | 78.3 | 0 | $27.39 | $12.52 |
| EV Truck/SUV | 125.2 | 1 | $43.82 | $20.03 |
Gas CO2
110 kg
EV CO2
37 kg (66% less)
Plan for 1 charging stop. A 30-minute DC fast charge mid-route should be enough to complete the trip comfortably.
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.
Destination
Milwaukee, WI
Evening in Milwaukee on Saturday
Local time
8:11 PM
CDT
Current temp
46°F
Unavailable
Live forecast
64°F
Adams, WI
157 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
5 degrees warmer at arrival
A meaningful temperature swing is a good cue to rethink layers, water, and how soon you want to arrive.
Road read
5h 57m 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.
National Parks Near This Route
Worth a detour if your schedule allows.
Ice Age National Scenic Trail
National Scenic Trail
The Ice Age National Scenic Trail spans 1,200 miles, traverses some of Wisconsin's finest geologic and glacial features, and passes through the ancestral lands of 15 Tribes. The Trail is built, manage...
25 mi from route
~63 min detour
Free
near mile 183.5
View on nps.gov
Park data from the National Park Service API. Alerts update every 2 hours.
What kind of drive is this?
This drive is characterized as 'turn-heavy' and local, with no highway travel percentage to report. This means you'll be navigating a series of county highways and local streets, likely experiencing frequent turns and changes in speed. The longest uninterrupted stretch is not specified, suggesting a continuous series of smaller roads and intersections rather than long, open stretches. Prepare for a driving experience that requires constant attention to navigation and road conditions, as it's a departure from the simplicity of interstate travel.
95% highway — fuel and pacing are the main things to plan.
22 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 280.8 mi on I 94.
How Hard Is This Drive?
5/10
This is a straightforward highway drive that stays mostly on I 94 and State Highway 128. You will hit about 13 points where you need to pay attention to lane position or signs. The trickiest moment comes early in the drive near CTH D / County Highway D.
Driving Effort
5/10
Moderate - straightforward overall, but long enough or busy enough to require pacing
Balances navigation complexity with total wheel time.
This drive requires moderate attention. Across 313 miles you will encounter 13 spots where lane choice or exit timing matters. Not difficult for experienced highway drivers, but worth previewing the tricky sections before you go.
Where does it get tricky?
The main spots that need attention: near the start (CTH D / County Highway D): Navigation decision point; at 30.1 miles: Roundabout - know your exit number before entering; at 240.7 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here.
Who Is This Route For?
Weekend Trip
Doable as a same-day drive at 5h 57m. Total distance: 313 miles.
Family Friendly
Moderate complexity with 1 natural rest stops along the way.
Solo Traveler
5h 57m drive, comfortable solo distance.
First-Time Driver
Mostly highway driving (95%). Some complex stretches to watch for.
Frequently Asked Questions
The longest stretch is about 280.8 miles on I 94. The full list of main roads is in the Roads section above.
We did not find dedicated rest areas on this route. For a drive this long, plan bathroom and stretch breaks around gas stations, fast-food stops, or small-town downtowns — check the Nearby Places section for options.
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. Dedicated rest areas are limited, so plan gas or food stops as your bathroom breaks.
The main spots that need attention: near the start (CTH D / County Highway D): Navigation decision point; at 30.1 miles: Roundabout - know your exit number before entering; at 240.7 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here.
Yes — Ice Age National Scenic Trail. See the National Parks section for detour distances and tips on detours.
Not recommended in a single day. At 6.0 hours each way, a round trip means 11.9 hours of driving — that is an unsafe level of fatigue for most drivers. Plan at least one night at Milwaukee, WI before the return drive.
How this page is built
Compiled by the US Trip Planner planning team at COD Solutions Oy from open government datasets — OSRM over OpenStreetMap for geometry, EIA for fuel prices, and NPS for national parks. See our methodology for refresh cadence and limitations.
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