This 116.9-mile journey from Milwaukee to Baraboo, Wisconsin, is a straightforward drive, taking approximately 2 hours and 17 minutes. Designed for a single day trip, it's a quick hop within the Midwest region. With a projected fuel cost of around $18, this route focuses heavily on highway travel, making it efficient for getting from point A to point B. You'll spend most of your time on major roadways, so don't expect many detours or lengthy stops to be necessary. It's a practical option for a quick getaway or an easy transfer between these two Wisconsin locations.
Trip Pace
Same-day drive is realistic
A same-day return is realistic if you keep stops short.
Midpoint
58.5 miles from Milwaukee, WI
A natural place for your longest stop of the day
, about 1h 7m into the drive
.
Main Roads
Road
Distance
Duration
East-West Freeway
70.9 mi
1h 19m
I 94
29.1 mi
31m
State Highway 33
11.6 mi
17m
I 90
3 mi
3m
8th Street
1.2 mi
3m
South Broadway Street
0.3 mi
<1m
North Jackson Street
0.2 mi
<1m
East Wisconsin Avenue
0.1 mi
<1m
Longest stretch:
East-West Freeway
— 70.9 mi, about 1h 19m
Turn-by-Turn Driving Directions
Step-by-step road directions between Milwaukee, WI and Baraboo, WI.
1
Start on US 18; WI 32
45 ft·8 sec·North Milwaukee Street
2
Turn left onto East Wisconsin Avenue
0.1 mi·25 sec·East Wisconsin Avenue
3
Turn right onto North Jackson Street
0.2 mi·29 sec·North Jackson Street
4
Take the ramp
0.3 mi·28 sec
Toward I 794 WestUse the straight / slight right / right lanes.
5
Merge onto I 794
0.2 mi·21 sec·East-West Freeway
6
Continue on I 794
17 mi·21 min·East-West Freeway
Exit 1AToward I 94 West: MadisonUse the straight / slight left lanes.
7
Keep slight left at fork onto I 94
54 mi·57 min·East-West Freeway
Use the straight / slight right lanes.
8
Keep slight right at fork onto I 94
29 mi·31 min·I 94
Exit 240Toward I 39 North, I 90 West, I 94 West: Wisconsin Dells, Eau ClaireUse the straight / slight right lanes.
9
Keep slight left at fork onto I 90; I 94
3.0 mi·3 min·I 90; I 94
Use the straight lane.
10
Take the exit
0.2 mi·39 sec
Exit 106Toward WI 33: Portage, Baraboo
11
Turn right onto WI 33
12 mi·17 min·State Highway 33
12
Continue on WI 33
1.2 mi·3 min·8th Street
13
Continue on WI 33
473 ft·15 sec·8th Avenue
14
Turn left onto US 12 BUS; WI 113
0.3 mi·26 sec·South Broadway Street
15
Arrive at destination
US 12 BUS; WI 113
Trip Plan
Given its relatively short duration of under 2.5 hours and highway-centric profile, this drive offers excellent flexibility. You can easily depart Milwaukee anytime, but an early start might help you beat any potential midday traffic on I-94. With no specific stops recommended, you can decide on the fly if you need a break. Keep an eye on your fuel; the longest stretch without a major interchange is the 70.9 miles on the East-West Freeway, so ensure you're fueled up before embarking on that segment. The $18 fuel cost is a good estimate for planning, but always monitor your gauge.
Morning Departure
Leave by 9 AM and you'll arrive before lunch.
Evening Departure
Even a 4 PM departure gets you there before dark in summer.
You can normally do this drive in one day.
You may only need one short stretch break if traffic stays light.
The halfway point lands around 58.5 miles from Milwaukee, WI, or about 1h 7m into the drive.
The longest continuous stretch on this route runs about 70.9 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 26 miles or 32m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 58.5 miles or 1h 7m in
This is the best place for your longest stop, a real meal, and a full fuel check.
Final approach
Final hour starts around 1h 47m
Traffic, exits, and arrival timing usually matter more near Baraboo, WI than in the middle of the route.
Before You Leave
+
Open the route before leaving Milwaukee, 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 Milwaukee, WI
This is one driving day of about 116.9 miles and 2h 17m.
Your first comfortable stop window is around 26 miles from Milwaukee, WI.
This route can stay practical as a one-day drive if traffic stays reasonable.
The longest stretch is on East-West Freeway for about 70.9 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 10
5 decision points cluster between mile 0.3 and 103.6 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
6
0.3 mi into trip|~1m in
Take the ramp toward I 794 West
Lane positioning matters here
Use the straight / slight right / right lanes.
Toward I 794 West
6
18 mi into trip|~23m in|I 94 / East-West Freeway
Keep slight left at fork onto I 94 / East-West Freeway
Highway fork - watch signs carefully. Lane positioning matters here
Use the straight / slight right lanes.
9
71.5 mi into trip|~1h 21m in|I 94
Keep slight right at fork onto I 94 toward I 39 North, I 90 West, I 94 West: Wisconsin Dells, Eau Claire
Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one
Use the straight / slight right lanes.
Exit 240
Toward I 39 North, I 90 West, I 94 West: Wiscon...
6
100.6 mi into trip|~1h 52m in|I 90; I 94
Keep slight left at fork onto I 90; I 94
Highway fork - watch signs carefully. Lane positioning matters here
Use the straight lane.
6
103.6 mi into trip|~1h 55m in
Take the exit toward WI 33: Portage, Baraboo
Exit ramp - move to the correct lane early. Multiple destination signs - pick the right one
Exit 106
Toward WI 33: Portage, Baraboo
Fuel & Cost
Regular Gas
$18.28 one way
$36.55 round trip
$3.97/gal25.4 MPG avg41 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.36
$20.07
$40.13
premium
$4.89
$22.50
$44.99
diesel
$5.61
$25.81
$51.62
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$18
Meals
$25–$50
Total
$43–$68
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 40.9 kg one way.
Prices: EIA weekly data, 2026-04-13.
Driving Electric?
About $12 in charging
· 0 stops
· 66% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
35.1
0
$12.27
$5.61
Efficient EV
29.2
0
$10.23
$4.68
EV Truck/SUV
46.8
0
$16.37
$7.48
Gas CO2
41 kg
EV CO2
14 kg (66% less)
This trip is well within single-charge range for most EVs. No charging stops needed if you start fully charged.
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 Apr 15, 2026
Origin
Milwaukee, WI
Night
in Milwaukee on Saturday
Local time
11:20 PM
CDT
Current temp
46°F
Unavailable
Live forecast
Destination
Baraboo, WI
Night
in Baraboo on Saturday
Local time
11:20 PM
CDT
Current temp
44°F
Unavailable
Live forecast
60°F
Cottage Grove, WI
58 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
2h 17m on the road
Use the two city cards together: check the sky where you start, then compare it with the local time and temperature at arrival.
Weather data from the National Weather Service. Conditions may change; check closer to your travel date.
More Details
What kind of drive is this?
Expect a highway-focused experience for 98% of this drive. The main arteries, including the East-West Freeway and I-94, dominate the landscape, offering a smooth and consistent pace. You'll encounter one significant stretch of 70.9 miles on the East-West Freeway, allowing for extended periods of uninterrupted driving. While State Highway 33 makes a brief appearance, the overall personality of this route is that of an efficient, high-speed transit between destinations, minimizing any potential for slow-downs or scenic diversions.
98% highway — fuel and pacing are the main things to plan.
15 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 70.9 mi on East-West Freeway.
How Hard Is This Drive?
6/10
This is a straightforward highway drive that stays mostly on East-West Freeway and I 94. You will hit about 10 points where you need to pay attention to lane position or signs. The trickiest moment comes around 0.3 miles in.
Driving Effort6/10
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 116.9 miles you will encounter 10 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 0.3 miles: Lane positioning matters here; at 18 miles (I 94 / East-West Freeway): Highway fork - watch signs carefully. Lane positioning matters here; at 71.5 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one.
Towns Mentioned on Route Signs
Based on OSRM destination-sign hints, not a full list of every settlement the road passes.
On the drive from Milwaukee, WI to Baraboo, WI, road signs begin pointing toward Eau Claire along the way.
Eau Claire
71.5 mi in|~1h 21m|via I 94
Who Is This Route For?
Weekend Trip
Doable as a same-day drive at 2h 17m. Total distance: 116.9 miles.
Family Friendly
Moderate complexity with 0 natural rest stops along the way.
Solo Traveler
2h 17m drive, comfortable solo distance.
First-Time Driver
Mostly highway driving (98%). Some complex stretches to watch for.
Frequently Asked Questions
The longest stretch is about 70.9 miles on East-West Freeway. The full list of main roads is in the Roads section above.
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 Baraboo, 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. Dedicated rest areas are limited, so plan gas or food stops as your bathroom breaks.
The main spots that need attention: at 0.3 miles: Lane positioning matters here; at 18 miles (I 94 / East-West Freeway): Highway fork - watch signs carefully. Lane positioning matters here; at 71.5 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one.
Yes. A round trip is manageable in a single day if you plan a break at Baraboo, WI before heading back.
