Dog-friendly outings, places to eat and places to stay in Wisconsin, city by city. Every spot below was checked against a published dog policy (the venue itself, BringFido or the park authority) – tap a name for our notes, or see them all on the Dog Fun Map.
Green Bay
🍽 Where to eat:
🏨 Where to stay:
- Country Inn & Suites by Radisson Green Bay North
- My Place Hotel – Green Bay
- AmericInn by Wyndham Green Bay West
🐕 Doggie daycare:
- Golrusk – Dog daycare, boarding, training, grooming and pet supplies.
- Woof n' Waggs – Dog daycare, boarding and training.
- Circle Kennel Club – Doggy daycare and boarding.
Madison
🍽 Where to eat:
🏨 Where to stay:
- La Quinta by Wyndham Madison American Center
- Wyndham Garden Madison Fitchburg
- Hampton Inn & Suites Madison Downtown
🐕 Doggie daycare:
- K9 Crush – Dog daycare and boarding.
- Duncan's Dog Daycare – Dog daycare on the east side.
- Luna Pet Resort – Dog daycare with supervised play.
Milwaukee
- Granville Dog Park
- McKinley Park
- Bay View Dog Park
- Estabrook Dog Park
- Oak Leaf Trail
- Milwaukee RiverWalk
🍽 Where to eat:
🏨 Where to stay:
- Hampton Inn & Suites Milwaukee West
- Crowne Plaza Milwaukee Airport by IHG
- Courtyard Milwaukee Downtown
- Ambassador Hotel Milwaukee Trademark Collection by Wyndham
🐕 Doggie daycare:
- Central Bark Downtown Milwaukee – Doggy daycare in the Walker's Point area.
- Bay View Bark – Dog daycare and boarding.
- Happy Paws – Doggie daycare on the west side.
Our notes on each spot
Green Bay
Fonferek's Glen Brown County Park · Outing
🐾 Leashed dogs welcome
A short walk to a 30-foot waterfall overlook, plus a 1.4-mile loop trail.
4206 Memory Ln, Green Bay, WI 54311
Howard Dog Park · Outing
🐾 Off-leash dog park with fenced and semi-fenced areas
In a conservation area, with a fully fenced yard, a semi-fenced wooded area and a trail. Bring water.
1653 Wietor Dr, Green Bay, WI 54303
Fox River State Trail (Green Bay to Greenleaf) · Outing
🐾 Dog-friendly rail trail
A long rail trail that follows the Fox River south from Green Bay.
500 S Washington St, Green Bay, WI 54301
Copper State Brewing Company · Restaurant / cafe
🐾 Dogs welcome on the patio
A family-owned brewery, coffee shop and gastropub with wood-fired pizza.
313 Dousman St, Green Bay, WI 54303
The Depot Gastropub · Restaurant / cafe
🐾 Dogs welcome at outdoor tables; free pup cups
Flatbreads, burgers and pastas, with free pup cups for dogs.
200 Dousman St, Green Bay, WI 54303
Grapevine Cafe · Restaurant / cafe
🐾 Leashed dogs welcome at the few outdoor tables
Gourmet sandwiches and soups for breakfast, lunch and Sunday brunch. There are only a few outdoor tables.
2058 Allouez Ave, Green Bay, WI 54311-6230
Country Inn & Suites by Radisson Green Bay North · Hotel / motel
🐾 2 dogs up to 65 lbs in designated rooms for an additional fee of $25 per pet, per night; pets can’t be left alone in the room
Ground-floor pet rooms and a grassy relief area.
2308 Lineville Rd, Green Bay, WI 54313
Google Maps · Dog policy source (BringFido, reviewed 2026-09-17)
My Place Hotel – Green Bay · Hotel / motel
🐾 Two pets up to 80 lbs for an additional fee of $10 per pet, per night
A budget-friendly stay with a low nightly pet fee.
2220 Holmgren Way, Green Bay, WI 54304
Google Maps · Dog policy source (BringFido, reviewed 2026-06-28)
AmericInn by Wyndham Green Bay West · Hotel / motel
🐾 2 pets of any size for an additional fee of $30 per pet, per night
A motel with free breakfast. Pets aren't allowed in suites or hot-tub rooms.
2032 Velp Ave, Green Bay, WI 54303
Google Maps · Dog policy source (BringFido, reviewed 2026-09-15)
Madison
Capital Springs Recreation Area Dog Park · Outing
🐾 Off-leash fenced dog park; annual permit or daily fee
Separate small and large dog sections with trees and trails. Pay the daily fee or get an annual permit.
3398 Lake Farm Rd, Madison, WI 53711
The Great Dane Pub & Brewing Company · Restaurant / cafe
🐾 Dogs welcome in the designated patio area
A Madison brewpub with poutine, wings and rice bowls.
123 E Doty St, Madison, WI 53703
Alchemy · Restaurant / cafe
🐾 Dogs welcome on the seasonal patio
An upscale spot using local farmers and brewers. Try the house Brandy Old-Fashioned.
1980 Atwood Ave, Madison, WI 53704
Boathouse Restaurant · Restaurant / cafe
🐾 Dogs welcome at outdoor seating
Lake-level dining with Wisconsin favorites like peel-and-eat shrimp, with lots of outdoor seats.
1001 Wisconsin Pl, Madison, WI 53703-1302
La Quinta by Wyndham Madison American Center · Hotel / motel
🐾 Two pets up to 75 lbs for an additional fee of $25 per night; pets can’t be left alone in the room
Free breakfast and grassy relief areas on Madison's northeast side.
5217 E Terrace Dr, Madison, WI 53718
Google Maps · Dog policy source (BringFido, reviewed 2026-10-04)
Wyndham Garden Madison Fitchburg · Hotel / motel
🐾 2 dogs up to 50 lbs for an additional fee of $50 per pet, per night
Lots of grass and waste stations, plus a free airport shuttle. Dogs only.
2969 Cahill Main, Madison, WI 53711
Google Maps · Dog policy source (BringFido, reviewed 2026-07-16)
Hampton Inn & Suites Madison Downtown · Hotel / motel
🐾 Two pets of any size for an additional fee of $50 per pet, per stay of 1 to 4 nights, and $75 per pet for stays of 5 nights or longer
Downtown Madison, for two pets of any size.
440 West Johnson Street, Madison, WI 53703
Google Maps · Dog policy source (BringFido, reviewed 2026-06-09)
Milwaukee
Granville Dog Park · Outing
🐾 Off-leash dog park; day pass or membership required
Grassy hills, woods and narrow trails along the Menomonee River. Buy a day pass or annual membership.
11745 Fond du Lac Ave, Milwaukee, WI 53224
McKinley Park · Outing
🐾 Leashed dogs welcome
Paved lakefront paths with views over McKinley Marina, connecting to the Oak Leaf Trail.
1750 N Lincoln Memorial Dr, Milwaukee, WI 53202
Bay View Dog Park · Outing
🐾 Off-leash fenced dog park; day pass or membership required
One fenced area for dogs of all sizes, with a shared water station. A day pass or membership is required.
E Lincoln Ave at S Bay St, Milwaukee, WI 53207
Estabrook Dog Park · Outing
🐾 Off-leash dog park; day pass or membership required
A fee-based dog park inside Estabrook Park, right beside the Oak Leaf Trail.
Estabrook Pkwy, Milwaukee, WI 53217
Oak Leaf Trail · Outing
🐾 Dog-friendly multi-use trail
Milwaukee's long multi-use trail, partly on former rail lines.
W Oklahoma and S 20th St, Milwaukee, WI 53202
Milwaukee RiverWalk · Outing
🐾 Dog-friendly riverwalk
A riverside walk through three downtown neighborhoods, passing restaurants and brewpubs along the way.
101 W Pleasant St, Milwaukee, WI 53212
Sobelman’s Pub & Grill · Restaurant / cafe
🐾 Dogs welcome on the outdoor patio
A Milwaukee institution for big burgers and over-the-top Bloody Marys.
1900 W St Paul Ave, Milwaukee, WI 53233
The Wicked Hop · Restaurant / cafe
🐾 Dogs welcome at heated sidewalk tables
A Third Ward pub with burgers, wings and a long drinks list, and heaters at the sidewalk tables.
345 N Broadway, Milwaukee, WI 53202
Red Lion Pub · Restaurant / cafe
🐾 Dogs welcome on the patio (about 20 tables)
An English-style pub with Scotch eggs and American bar bites, and a big dog-friendly patio.
1850 N Water St, Milwaukee, WI 53202-1504
Hampton Inn & Suites Milwaukee West · Hotel / motel
🐾 2 dogs of any size for an additional fee of $50 for 1 night, $75 for 2 to 4 nights, and $125 for longer stays; pets can’t be left alone in the room
A west-side stay with free breakfast and a pet relief area.
8201 W. Greenfield Avenue, Milwaukee, WI 53214
Crowne Plaza Milwaukee Airport by IHG · Hotel / motel
🐾 A maximum of 2 pets of any size for an additional fee of $75 per pet, per stay
About three miles from Mitchell airport, for pets of any size.
6401 S 13th Street, Milwaukee, WI 53221
Google Maps · Dog policy source (BringFido, reviewed 2026-05-06)
Courtyard Milwaukee Downtown · Hotel / motel
🐾 Two pets of any size for an additional fee of $50 per stay, plus an additional $5 per night
Downtown, less than a mile from Discovery World.
300 W Michigan St, Milwaukee, WI 53203
Ambassador Hotel Milwaukee Trademark Collection by Wyndham · Hotel / motel
🐾 Two dogs up to 30 lbs for an additional fee of $50 per stay
A restored 1927 Art Deco hotel near Marquette, with grass out back. Small dogs only (30 lbs).
2308 W Wisconsin Ave, Milwaukee, WI 53233
Google Maps · Dog policy source (BringFido, reviewed 2026-05-06)
Restaurant patio rules and hotel pet fees change – call ahead or confirm when booking. We list only places with a published dog policy, and we never add star ratings or reviews we didn’t write.
Doggie daycares are listed with a note from each business’s own website. Most ask for a meet-and-greet or temperament check and current vaccinations – contact them before your first visit.
Disclosure: City Pups is reader-supported. “Book this stay” links go through our booking partner Stay22, and if you book through them we may earn a small commission, at no extra cost to you. No hotel paid to be listed.