Door County peninsula
Cherry orchards, fish boils and lighthouses between Green Bay and Lake Michigan.
- Distance
- 319 km (198 mi)
- Driving
- 3 h 32 min
- Suggested days
- 2
- Stops
- 4
- States
- WI
- Updated
- June 21, 2026
At a glance: 2-day road trip of about 319 km (198 mi) with 4 stops, from Milwaukee to Ephraim. About 3 h 32 min of driving in total.
More road trips in Wisconsin
Route description
Milwaukee has a lakefront lined with museums, including the Harley-Davidson Museum and the Milwaukee Art Museum. I-43 runs north along Lake Michigan to Green Bay, where fans can tour Lambeau Field. From there, WI-57 leads onto the Door Peninsula, between the bay of Green Bay and Lake Michigan.
Sturgeon Bay, where a ship canal cuts across the peninsula, has shipyards and a maritime museum. North of it, WI-42 follows the bay side through orchards and small harbor villages such as Egg Harbor and Fish Creek. Peninsula State Park has bluffs, beaches, a campground and the Eagle Bluff Lighthouse.
Ephraim is a village of white clapboard buildings on a harbor, founded by Moravian settlers. In the evenings, several restaurants on the peninsula hold fish boils, a Scandinavian tradition of cooking whitefish over an open fire. For the return trip, take WI-57 along the quieter Lake Michigan side, with Cave Point, Whitefish Dunes and the Cana Island Lighthouse.
Cherry blossoms come in late May, and the cherry harvest is in July, when roadside stands sell fruit and pies. Summer and fall weekends are busy, and campgrounds, especially in Peninsula State Park, should be booked well ahead. From Northport, at the tip, a car ferry crosses to Washington Island.
Stop-by-stop itinerary
In driving order. Distances are estimates between consecutive stops.
- 1Start
Milwaukee
WI - 2198 km
Green Bay
WI - 374 km
Sturgeon Bay
WI - 447 km
Ephraim
WI
Suggested stages and overnight stops
2 days, split by driving time. Campsites from OpenStreetMap: check opening dates before you go.
- Day 1: Milwaukee → Green Bay · 123 mi · 2 h 12 min
- Day 2: Green Bay → Ephraim · 75 mi · 1 h 21 minOn the way: Sturgeon Bay.Overnight nearby, for example: Kleinke Park Campground (17 mi).
Best time to go
The most pleasant months are usually May–June and September. Still fine, with some compromises, in July–August. Cold, short days in December–March. July and August are the busiest months: book campsites early.
Estimate from long-term temperature averages, terrain and pass seasons
FAQs
How long is Door County peninsula?
2-day road trip of about 319 km (198 mi) with 4 stops, from Milwaukee to Ephraim. About 3 h 32 min of driving in total.
How many days do you need for Door County peninsula?
We suggest 2 days: about 3 h 32 min of driving, which leaves time for the stops.
Where does Door County peninsula start and end?
It starts in Milwaukee and ends in Ephraim.
Which states does Door County peninsula pass through?
Wisconsin.
Where can you camp along Door County peninsula?
OpenStreetMap lists 6 campsites and motorhome stopovers within 19 mi of the stops on this route. For example: Menomonee Park Campground Family Camping, Kleinke Park Campground and Wisconsin State Fair Park RV Park.
When is the best time for Door County peninsula?
The most pleasant months are usually May–June and September. Still fine, with some compromises, in July–August. (Estimate from long-term temperature averages, terrain and pass seasons)
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