The drive from Milwaukee, WI to Harrison, WI covers 109.6 miles and takes about 2h 8m behind the wheel.
This route is realistic as a one-day drive if you keep your stops efficient.
The route leans on I 41, Zoo Freeway, East-West Freeway for much of the mileage,
and the overall profile is mostly highway.
The longest uninterrupted segment is about 74.4 miles on I 41.
At current regular gas prices, budget about $16.99 one way before food or hotel costs.
Trip Pace
Same-day drive is realistic
A same-day return is realistic if you keep stops short.
Midpoint
54.8 miles from Milwaukee, WI
A natural place for your longest stop of the day
, about 1h 5m into the drive
.
Main Roads
Road
Distance
Duration
I 41
74.4 mi
1h 19m
Zoo Freeway
19.5 mi
23m
East-West Freeway
6.1 mi
8m
Midway Road
3.2 mi
5m
Tri-County Expressway
2.8 mi
3m
Midway Extended
0.5 mi
<1m
Roland Kampo Memorial Bridge
0.5 mi
<1m
US 10
0.3 mi
<1m
Longest stretch:
I 41
— 74.4 mi, about 1h 19m
Traffic on I-41
Hour-of-day weekday pattern from 138 FHWA count stations on your route.
Peak
4 PM
~2,907 veh/hr typical
· worst 3,510
Quietest
2 AM
~163 veh/hr
Peak-to-quiet ratio
17.8×
busier at peak than in the quiet hours
12a6anoon6p11p
Averaged across 103 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 Milwaukee, WI and Harrison, 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
5.8 mi·8 min·East-West Freeway
Exit 1AToward I 94 West: MadisonUse the straight / slight left lanes.
7
Take the exit
0.2 mi·26 sec
Exit 305A-BToward I 41, US 45, I 894: Fond du Lac, ChicagoUse the slight right lane.
8
Keep slight right at fork
0.5 mi·49 sec
Exit 305BToward I 41 North, US 45 North: Fond du LacUse the straight / slight right lanes.
9
Merge onto I 41; US 41; US 45
20 mi·23 min·Zoo Freeway
Use the straight / slight right lanes.
10
Keep slight left at fork onto I 41; US 41
74 mi·1 hr 19 min·I 41; US 41
Toward US 41 North: Fond du Lac, AppletonUse the slight left lane.
11
Take the exit
0.3 mi·19 sec
Exit 134AToward US 10, WI 441 North: Stevens PointUse the straight / slight right lanes.
12
Keep slight right at fork
0.5 mi·45 sec
Exit 134AToward US 10 East, WI 441 North
13
Merge onto US 10; WI 441
0.5 mi·34 sec·Roland Kampo Memorial Bridge
14
Continue on US 10; WI 441
2.8 mi·3 min·Tri-County Expressway
Use the straight / slight right lanes.
15
Take the exit onto US 10
0.2 mi·28 sec·US 10
Toward US 10 EastUse the straight / slight right lanes.
16
Keep slight right at fork onto US 10
443 ft·12 sec·US 10
Use the slight right lane.
17
Merge onto US 10
0.2 mi·33 sec·South Oneida Street
Use the slight right lane.
18
Turn left onto CTH AP
1.6 mi·2 min·Midway Road
Use the left lane.
19
Enter roundabout onto CTH AP
40 ft·2 sec·Midway Road
20
Continue on CTH AP
0.6 mi·1 min·Midway Road
21
Enter roundabout onto CTH AP
96 ft·1 sec·Midway Road
22
Continue on CTH AP
1.0 mi·1 min·Midway Road
23
Continue on Midway Extended
0.5 mi·54 sec·Midway Extended
Use the straight / left lanes.
24
Turn right onto Daffodil Drive
243 ft·12 sec·Daffodil Drive
25
Turn right onto Sweet Pea Drive
0.1 mi·32 sec·Sweet Pea Drive
26
Arrive at destination
Sweet Pea Drive
Trip Plan
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 54.8 miles from Milwaukee, WI, or about 1h 5m into the drive.
The longest continuous stretch on this route runs about 74.4 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 24 miles or 31m in
Use this first pause for coffee, a restroom break, and a quick traffic check ahead.
Halfway reset
Around 54.8 miles or 1h 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 1h 42m
Traffic, exits, and arrival timing usually matter more near Harrison, 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 109.6 miles and 2h 8m.
Your first comfortable stop window is around 24 miles from Milwaukee, WI.
This route can stay practical as a one-day drive if traffic stays reasonable.
The longest stretch is on I 41 for about 74.4 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 20
5 decision points cluster between mile 6.7 and 101.5 — GPS handles the exact turns, but know they're coming. Your lane choice matters more than the turn itself.
8
6.7 mi into trip|~10m in
Take the exit toward I 41, US 45, I 894: Fond du Lac, Chicago
Exit ramp - move to the correct lane early. Lane positioning matters here. Multiple destination signs - pick the right one
Use the slight right lane.
Exit 305A-B
Toward I 41, US 45, I 894: Fond du Lac, Chicago
9
6.9 mi into trip|~10m in
Keep slight right at fork toward I 41 North, US 45 North: Fond du Lac
Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one
Use the straight / slight right lanes.
Exit 305B
Toward I 41 North, US 45 North: Fond du Lac
8
26.8 mi into trip|~35m in|I 41; US 41
Keep slight left at fork onto I 41; US 41 toward US 41 North: Fond du Lac, Appleton
Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one
Use the slight left lane.
Toward US 41 North: Fond du Lac, Appleton
8
101.2 mi into trip|~1h 54m in
Take the exit toward US 10, WI 441 North: Stevens Point
Exit ramp - move to the correct lane early. Lane positioning matters here. Multiple destination signs - pick the right one
Use the straight / slight right lanes.
Exit 134A
Toward US 10, WI 441 North: Stevens Point
7
101.5 mi into trip|~1h 55m in
Keep slight right at fork toward US 10 East, WI 441 North
Highway fork - watch signs carefully. Multiple destination signs - pick the right one
Exit 134A
Toward US 10 East, WI 441 North
Fuel & Cost
Regular Gas
$16.99 one way
$33.98 round trip
$3.94/gal25.4 MPG avg38 kg CO2
Fuel Type
$/gal
One Way
Round Trip
midgrade
$4.32
$18.63
$37.26
premium
$4.93
$21.26
$42.53
diesel
$5.60
$24.16
$48.32
No toll roads detected on this route.
Estimated Trip Cost (one way, 1 person)
Fuel
$17
Meals
$25–$50
Total
$42–$67
Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.
Estimated CO2 emission: 38.3 kg one way.
Prices: EIA weekly data, 2026-08-31.
Driving Electric?
About $12 in charging
· 0 stops
· 66% less CO2
Vehicle Type
kWh
Stops
DC Fast
Home Charge
Average EV
32.9
0
$11.51
$5.26
Efficient EV
27.4
0
$9.59
$4.38
EV Truck/SUV
43.8
0
$15.34
$7.01
Gas CO2
38 kg
EV CO2
13 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 Aug 23, 2026
Origin
Milwaukee, WI
Afternoon
in Milwaukee on Friday
Local time
1:59 PM
CDT
Current temp
55°F
Mostly Clear
NW 0 to 10 mph0% chanceLive forecast
Destination
Harrison, WI
Afternoon
in Harrison on Friday
Local time
1:59 PM
CDT
Current temp
49°F
Mostly Clear
N 3 to 9 mph0% chanceLive forecast
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 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 8m on the road
The weather snapshot is not static. If you are leaving later, give both cities one more quick forecast check before departure.
Weather data from the National Weather Service. Conditions may change; check closer to your travel date.
More Details
What kind of drive is this?
109.6 mi in 2h 8m, mostly highway — 74.4 mi of that is on I 41.
94% highway — fuel and pacing are the main things to plan.
26 navigation steps total — most of the decisions cluster near the start and finish.
Longest single stretch: 74.4 mi on I 41.
How Hard Is This Drive?
10/10
This is a straightforward highway drive that stays mostly on I 41 and Zoo Freeway. This route has several spots where lane changes, forks, or exits need your full attention. The trickiest moment comes around 6.7 miles in.
Driving Effort10/10
High effort - long or complex enough to need steady focus all day
Balances navigation complexity with total wheel time.
This is a demanding drive. With 20 significant decision points across 109.6 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 6.7 miles: Exit ramp - move to the correct lane early. Lane positioning matters here. Multiple destination signs - pick the right one; at 6.9 miles: Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one; at 26.8 miles (I 41; US 41): Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one.
Elevation Profile
Mostly flat terrain
1,057 ft615 ft
Total Climb
613 ft
Total Descent
424 ft
Highest Point
1,057 ft
~31.3 mi in
Elevation Range
442 ft
Towns Mentioned on Route Signs
Based on OSRM destination-sign hints, not a full list of every settlement the road passes.
Between Milwaukee, WI and Harrison, WI, road signs point toward Chicago and Appleton.
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 2h 8m. Total distance: 109.6 miles.
Family Friendly
Moderate complexity with 0 natural rest stops along the way.
Solo Traveler
2h 8m drive, comfortable solo distance.
First-Time Driver
Mostly highway driving (94%). Some complex stretches to watch for.
Frequently Asked Questions
The longest stretch is about 74.4 miles on I 41. 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 Harrison, 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 6.7 miles: Exit ramp - move to the correct lane early. Lane positioning matters here. Multiple destination signs - pick the right one; at 6.9 miles: Highway fork - watch signs carefully. Lane positioning matters here. Multiple destination signs - pick the right one; at 26.8 miles (I 41; US 41): 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 Harrison, WI before heading back.
