The Journeyman Hotel
Where: 310 E. Chicago St., Milwaukee (Third Ward)
Unlike most pet-friendly hotels, this 158-room boutique property does not charge a pet fee and does not restrict larger dogs. (In other words, feel free to bring your Great Dane for the night!) Dogs are allowed in the rooms (dog beds, as well as food and water dishes, are provided) and in the outdoor dining area at Tre Rivali, the hotel's Mediterranean-inspired restaurant that is run by former "Top Chef" contestant Heather Terhune. Upon arrival, the dog is greeted with a treat and his or her name written on the chalkboard in the lobby.
Camp Bar (Wauwatosa location)
Where: 6600 W. North Ave., Wauwatosa
This North Woods-themed bar (think taxidermy and plaid textiles) debuted in Shorewood in 2012, followed by Wauwatosa in 2014 and, earlier in 2016, in the Third Ward. At the Wauwatosa location is plenty of outdoor seating so you can chill with your dog and have a beer. Celebrated for its Bloody Marys, Cranky Al's pizza (from nearby) can be ordered for some sustenance with whatever beverage you choose.
Colectivo Coffee (Lakefront location)
Where: 1701 N. Lincoln Memorial Drive, Milwaukee (East Side)
Located right across the street from Lake Michigan and McKinley Marina, and along Lincoln Memorial Drive, the outdoor seating area sprawls across the lawn, featuring a mix of tables/chairs and benches. Inside, you can order espresso and coffee drinks, as well as sandwiches, salads and breakfast entrees, plus indulgent pastries. Tea drinks are also sold, catering to those who aren't as hot on coffee.
Where: 1800 Swan Blvd., Wauwatosa
This Milwaukee County park in Wauwatosa--the suburb immediately west of Milwaukee--has all the goods: winding paved paths (part of the Oak Leaf Trail) along the Menomonee River, a beer garden, reservable picnic area and swimming pool (seasonal). It's a great, scenic place to take your dog on a stroll, especially in autumn when the leaves begin to change color.
Lakeshore State Park
Where: 500 N. Harbor Drive, Milwaukee
The crown jewel of Milwaukee's parks, this one is located behind Discovery World and Henry Maier Festival Park (home to Summerfest and the summer's ethnic/cultural fests) in downtown Milwaukee, hugging Lake Michigan. It's also next to the Milwaukee Art Museum. Dogs are permitted here and while the park is small and compact, the views are splendid.
Riverwalk (Third Ward)
Where: Downtown Milwaukee, Third Ward and Beerline B (all in Milwaukee)
The Third Ward neighborhood--immediately south of downtown Milwaukee--is where three rivers converge: the Milwaukee, Menomonee, and Kinnickinnic rivers. It's also home to the Riverwalk, which also travels through the downtown and Beerline B neighborhoods. Thanks to two miles of pedestrian walkways, you can take in the city from this unique point of view, stopping at restaurants, cafes, and shops along the way--or simply experiencing an urban hike along the river. Bronz Fonz is also on the Riverwalk, just south of Wells Street.
Iron Horse Hotel
Where: 500 W. Florida St., Milwaukee (Walker's Point)
Open since 2008, this luxury hotel is within a former warehouse and factory that dates back around 100 years. Dogs are welcome as guests, and receive a treat upon arrival--and every time they meet a staff person--and also free to join their human friends at The Yard, a massive outdoor patio with food and beverage service.
Estabrook Beer Garden and Dog Exercise Area
Where: 4600 Estabrook Parkway, Glendale
Like all of Milwaukee County's German-style beer gardens, dogs are welcome to join their owners as they sip beer, nibble on snacks, and listen to live music (when available). A bonus for dog owners is that next to the beer garden is a fenced-in dog-exercise area. (Note that the beer garden closes for the season at the end of October but reopens in April.)