Lima, WI to Milwaukee, WI is 259.2 miles and takes about 4h 58m via I 94 and US Highway 10, with a fuel budget near $40 and enough daylight to finish in a day. This trip stays within Wisconsin, moving from the Midwest region to the Midwest region. Given its mostly highway profile and single-day recommendation, this is a straightforward drive for getting between these two points. You can expect a fairly direct transit with minimal complexity for a trip of this length.
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
129.6 miles from Lima, WI
A natural place for your longest stop of the day
, about 2h 35m into the drive
.
Main Roads
Road
Distance
Duration
I 94
221.2 mi
4h
US Highway 10
28.6 mi
39m
10th Street
3.3 mi
5m
West Main Street
2.2 mi
4m
County Highway V
1.5 mi
3m
East-West Freeway
1 mi
1m
Mondovi Street West
0.4 mi
1m
North Milwaukee Street
0.3 mi
<1m
Longest stretch:
I 94
— 221.2 mi, about 4h
Traffic on I-94
Hour-of-day weekday pattern from 128 FHWA count stations on your route.
Peak
4 PM
~3,415 veh/hr typical
· worst 3,985
Quietest
2 AM
~206 veh/hr
Peak-to-quiet ratio
16.6×
busier at peak than in the quiet hours
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Averaged across 52 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 Lima, WI and Milwaukee, WI.
1
Start on CTH V
1.5 mi·3 min·County Highway V
2
Turn left onto US 10
9.7 mi·13 min·US Highway 10
3
Continue on US 10
2.2 mi·4 min·West Main Street
4
Continue on US 10
8.9 mi·12 min·US Highway 10
5
Continue on US 10
0.4 mi·1 min·Mondovi Street West
6
Continue on US 10
10 mi·13 min·US Highway 10
7
Continue on US 10; US 53
3.3 mi·5 min·10th Street
8
Take the ramp
0.3 mi·35 sec
9
Merge onto I 94
151 mi·2 hr 41 min·I 94
Use the straight lane.
10
Keep slight left at fork onto I 94
71 mi·1 hr 18 min·I 94
Exit 138AToward I 94: MilwaukeeUse the straight / slight right lanes.
11
Keep slight left at fork onto I 794
1.0 mi·1 min·East-West Freeway
Exit 310CToward I 794 East: Lakefront, Port of MilwaukeeUse the straight / slight right lanes.
12
Take the exit
0.2 mi·24 sec
Exit 1EToward Jackson Street, Van Buren Street
13
Turn slight right
309 ft·14 sec
Toward Jackson Street SouthUse the right lane.
14
Turn right onto East Saint Paul Avenue
0.1 mi·24 sec·East Saint Paul Avenue
15
Turn right onto WI 32
0.3 mi·47 sec·North Milwaukee Street
16
Arrive at destination
US 18; WI 32
Trip Plan
Since this route is designed for a single day, leaving in the morning will give you plenty of time. The longest stretch without a major road change is over 200 miles on I 94, so plan for a mid-drive stop if you prefer to break up longer segments. Keep an eye on your fuel, as the estimated cost is around $40, and while you'll encounter exits, efficient refueling is key to making good time. The final approach into Milwaukee will involve more surface streets, so be prepared for a slight change in pace as you near your destination.
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 129.6 miles from Lima, WI, or about 2h 35m into the drive.
The longest continuous stretch on this route runs about 221.2 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 57 miles or 1h 17m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 129.6 miles or 2h 35m 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 5m
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 Lima, 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 Lima, WI
This is one driving day of about 259.2 miles and 4h 58m.
Your first comfortable stop window is around 57 miles from Lima, 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 221.2 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 9
5 decision points cluster between mile 36.4 and 258.8 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
5
36.4 mi into trip|~55m in|I 94
Merge onto I 94
Merge point - match speed before joining. Lane positioning matters here
Use the straight lane.
8
186.9 mi into trip|~3h 36m 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
257.6 mi into trip|~4h 55m 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
258.5 mi into trip|~4h 57m 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
5
258.8 mi into trip|~4h 57m in
Turn slight right toward Jackson Street South
Lane positioning matters here
Use the right lane.
Toward Jackson Street South
Fuel & Cost
Regular Gas
$38.28 one way
$76.56 round trip
$3.75/gal25.4 MPG avg91 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.14
$42.26
$84.52
premium
$4.72
$48.13
$96.25
diesel
$4.80
$48.94
$97.88
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: 90.7 kg one way.
Prices: EIA weekly data, 2026-07-13.
Driving Electric?
About $27 in charging
· 0 stops
· 67% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
77.8
0
$27.22
$12.44
Efficient EV
64.8
0
$22.68
$10.37
EV Truck/SUV
103.7
1
$36.29
$16.59
Gas CO2
91 kg
EV CO2
30 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 Jul 18, 2026
Origin
Lima, WI
Late night
in Lima on Sunday
Local time
1:59 AM
CDT
Current temp
71°F
Partly Cloudy
NW 5 to 10 mph0% chanceLive forecast
Beach Hazards Statement
Beach Hazards Statement issued July 18 at 2:04AM CDT until July 19 at 7:00AM CDT by NWS Milwaukee/Sullivan WI
Destination
Milwaukee, WI
Late night
in Milwaukee on Sunday
Local time
1:59 AM
CDT
Current temp
77°F
Mostly Cloudy
W 10 mph9% chanceLive forecast
Beach Hazards Statement
Beach Hazards Statement issued July 18 at 2:04AM CDT until July 19 at 7:00AM CDT by NWS Milwaukee/Sullivan WI
60°F
Lodi, WI
130 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
6 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
4h 58m 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...
26 mi from route
~64 min detour
Free
near mile 125.1
Park data from the National Park Service API. Alerts update every 2 hours.
More Details
What kind of drive is this?
This drive is almost entirely on highways, with 97% of the route utilizing major roads like I 94 and US Highway 10. You'll experience a single, long stretch of 221.2 miles on I 94, meaning you can settle in for a good amount of cruising. The transition to surface streets, such as 10th Street, will happen towards the end of your trip, likely marking the final few miles into Milwaukee.
97% highway — fuel and pacing are the main things to plan.
16 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 221.2 mi on I 94.
How Hard Is This Drive?
5/10
This is a straightforward highway drive that stays mostly on I 94 and US Highway 10. You will hit about 9 points where you need to pay attention to lane position or signs. The trickiest moment comes around 36.4 miles in near I 94.
Driving Effort5/10
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 259.2 miles you will encounter 9 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: at 36.4 miles (I 94): Merge point - match speed before joining. Lane positioning matters here; at 186.9 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here; at 257.6 miles (I 794 / East-West Freeway): Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one.
Milwaukee is the largest city in the state of Wisconsin, United States. The city celebrates its heritage as a major center for beer-brewing, and of it German and Polish communities. It is now known for its many festivals.
The city's population is about 600,000 with about 1.6 million in the metropolitan area (2019). It is in the southeastern portion of the state on the western shore of Lake Michigan.
Top landmarks
•Milwaukee Art Museum — art museum in Milwaukee, Wisconsin
•Milwaukee City Hall — municipal office in E. Wells St. Milwaukee, United States
•Basilica of St. Josaphat — church building in Milwaukee, United States of America
Doable as a same-day drive at 4h 58m. Total distance: 259.2 miles.
Family Friendly
Moderate complexity with 1 natural rest stops along the way.
Solo Traveler
4h 58m drive, comfortable solo distance.
First-Time Driver
Mostly highway driving (97%). Some complex stretches to watch for.
Frequently Asked Questions
The longest stretch is about 221.2 miles on I 94. The full list of main roads is in the Roads section above.
Yes — we found about 21 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.
Yes, with realistic expectations. Build in a stop roughly every 2 hours, have snacks and activities ready, and check the Nearby Places tabs for kid-friendly stops along the way.
The main spots that need attention: at 36.4 miles (I 94): Merge point - match speed before joining. Lane positioning matters here; at 186.9 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here; at 257.6 miles (I 794 / East-West Freeway): Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one.
Yes — Ice Age National Scenic Trail. See the National Parks section for detour distances and tips on detours.
Possible but tiring. At 5.0 hours each way, an in-and-out day trip would put you behind the wheel for 10.0 hours — manageable with a long break at Milwaukee, WI, but most travelers stay overnight.
