Pet-Friendly Hotels in Downtown Milwaukee

Compare 38 pet-friendly downtown Milwaukee hotels, including Hilton Milwaukee, The Pfister Hotel, and The Iron Horse Hotel. Check rates, guest scores, and amenities-book now for exclusive deals.

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Rooms and Guests2 Guests, 1 room
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Check-out
Sat, 14 Nov
Rooms and Guests2 Guests, 1 room
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Check-in
Fri, 13 Nov
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Check-out
Sat, 14 Nov
Rooms and Guests2 Guests, 1 room
3Filter & Sort
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1-50 out of 52
Sort by: high popularity
  • Price: low to high
  • Price: high to low
  • Guest rating: high to low
  • Popularity: high to low
9.5
Perfect
Map
99 yd from City Center480 yd from Pabst Theater
Rooftop PoolWellness SpaArtist Studio
  • Largest Victorian art collection in world
  • On-site Artist-in-Residence program
  • Historic landmark since 1893
FromUS$ 98 /nightSelect
9.4
Perfect
Map
1300 yd from City Center178 yd from Fiserv Forum
Rooftop DiningVIP SuiteFitness Center
  • Official hotel of Deer District
  • Rooftop Italian restaurant
  • Themed rooms reflecting local culture
FromUS$ 211 /nightSelect
8.2
Great
Map
838 yd from City Center265 yd from Miller High Life Theatre
Rooftop BallroomBusiness CenterFitness Center
  • Rooftop ballroom with city views
  • Skywalk to Wisconsin Convention Center
  • Full-service Starbucks on site
FromUS$ 76 /nightSelect
8.4
Great
Map
1012 yd from City Center483 yd from Miller High Life Theatre
Indoor SkywalkStarbucks CafeBusiness Center
  • Indoor skywalk to Baird Center
  • Therapy dogs in the lobby
  • Historic Art Deco architecture
FromUS$ 147 /nightSelect
9.4
Perfect
Map
541 yd from City Center140 yd from Pabst Theater
Performance SpaceArt GalleryRecord Players
  • Art installations in every room
  • Live music performances nightly
  • Record players & ukuleles in rooms
FromUS$ 139 /nightSelect
7.6
Very good
Map
490 yd from City Center297 yd from Riverside Theater
Heated PoolSnack BarBluetooth Mirrors
  • Heated indoor pool open year-round
  • Bluetooth mirrors in guest bathrooms
  • 24-hour snack bar and lounge
FromUS$ 103 /nightSelect
8.2
Great
Map
754 yd from City Center869 yd from Riverside Theater
Rooftop BarTre RivaliBicycle Rental
  • Rooftop bar with heated fire pits
  • No size limit for dogs
  • Locally inspired decor and art
FromUS$ 414 /nightSelect
8.6
Great
Map
1693 yd from City Center527 yd from Harley-Davidson Museum
Motorcycle ParkingBike WashOutdoor Fire Pits
  • Adults-only motorcycle hotel
  • Historic warehouse with local art
  • Covered motorcycle parking and wash
FromUS$ 161 /nightSelect
8.9
Great
Map
1647 yd from City Center481 yd from Fiserv Forum
Fitness CenterBusiness CenterValet Parking
  • Across from Fiserv Forum
  • Regionally inspired bar menu
  • Enclosed bedroom suites
FromUS$ 187 /nightSelect
8.6
Great
Map
396 yd from City Center562 yd from Milwaukee Art Museum
Italian SteakhousePeloton FitnessValet Parking
  • Heavenly Beds with pillow menu
  • Stella Van Buren restaurant
  • Dog Welcome Station
FromUS$ 142 /nightSelect
8.8
Great
Map
1141 yd from City Center554 yd from Miller High Life Theatre
Avenue BarOutdoor SundeckShuttle Service
  • Warm cookies at check-in
  • Award-winning breakfast buffet
  • Steps from Fiserv Forum
FromUS$ 123 /nightSelect
8.8
Great
Map
80 yd from City Center401 yd from Riverside Theater
M Club LoungeIndoor PoolValet Parking
  • Exclusive M Club lounge access
  • Top-floor city skyline views
  • Extensive whiskey list at East Town
FromUS$ 228 /nightSelect
8.0
Great
Map
6.3 mi from City Center
Indoor PoolFitness CenterBusiness Center
  • Free 24/7 airport shuttle
  • Complimentary 24/7 snack bar
  • Free laundry with detergent provided
FromUS$ 126 /nightSelect
7.8
Very good
Map
1111 yd from City Center252 yd from Fiserv Forum
Indoor PoolFitness CenterValet Parking
  • Across from Fiserv Forum
  • Pet-friendly with no extra fees
  • W XYZ bar with local beers
FromUS$ 94 /nightSelect
8.7
Great
Map
186 yd from City Center310 yd from Riverside Theater
Historic AtriumSocial TavernPavilion Pantry
  • Housed in historic 1886 building
  • Made-to-order breakfast
  • Five-story marble atrium
FromUS$ 97 /nightSelect
8.4
Great
Map
1.8 mi from City Center131 yd from The Rave/Eagles Club
Shuttle ServiceEvent SpaceFitness Center
  • Complimentary shuttle until midnight
  • Historic Art Deco architecture
  • Pre-prohibition craft cocktails
FromUS$ 131 /nightSelect
9.0
Perfect
Map
218 yd from City Center181 yd from Riverside Theater
Outdoor PoolFitness CenterMeeting Rooms
  • Complimentary evening kickback with drinks
  • Free hot breakfast and dinner daily
  • Historic downtown building renovation
FromUS$ 180 /nightSelect
7.1
Very good
Map
4.4 mi from City Center
Indoor PoolHot TubRiverfront Patio
  • Riverside patio dining
  • Kids eat free policy
  • River view rooms
FromUS$ 165 /nightSelect
9.1
Perfect
Map
1.1 mi from City Center731 yd from Fiserv Forum
Outdoor Beer GardenGreen Roof TerraceFull Kitchens
  • Historic brewery conversion
  • Outdoor beer garden
  • Spacious suites with kitchens
FromUS$ 115 /nightSelect
7.9
Very good
Map
1.8 mi from City Center140 yd from The Rave/Eagles Club
Shuttle ServiceOn-site RestaurantBusiness Center
  • Free shuttle to city center attractions
  • On-site restaurant with varied meals
  • Walk to Bradley Center venues
FromUS$ 79 /nightSelect
8.8
Great
Map
231 yd from City Center549 yd from Riverside Theater
Complimentary Breakfast24-hour FitnessMeeting Space
  • Greenline bus to airport access
  • Near American Family Amphitheater
  • In-house breakfast with dietary options
FromUS$ 99 /nightSelect
8.3
Great
Map
843 yd from City Center373 yd from Miller High Life Theatre
Skywalk AccessAll-Suite RoomsBBQ Restaurant
  • Skywalk to Wisconsin Center
  • Spacious all-suite rooms
  • Southern BBQ restaurant on-site
FromUS$ 242 /nightSelect
8.3
Great
Map
359 yd from City Center392 yd from Riverside Theater
EV ChargingMeeting RoomsIndoor Whirlpool
  • Historic charm with modern amenities
  • Complimentary Wednesday happy hour
  • Steps from Milwaukee Public Market
FromUS$ 174 /nightSelect
8.1
Great
Map
750 yd from City Center390 yd from Riverside Theater
Indoor PoolHot TubThe Bistro
  • Connected to 3rd Street Market Hall
  • Indoor pool and hot tub
  • On-site Starbucks coffee bar
FromUS$ 94 /nightSelect
7.2
Very good
Map
547 yd from City Center155 yd from Riverside Theater
Valet ParkingFitness CenterBusiness Center
  • Digital key access via app
  • Floor-to-ceiling city views
  • 24-hour complimentary refreshments
FromUS$ 84 /nightSelect
6.9
Nice
Map
6.3 mi from City Center111 yd from Mitchell Gallery of Flight
Indoor PoolEvent SpaceAirport Shuttle
  • 15,000 sq ft event space
  • Large indoor swimming pool
  • Low-cost Park and Fly package
FromUS$ 75 /nightSelect
5.8
Needs improvement
Map
11.6 mi from City Center322 yd from Dretzka Park
Pet FriendlyNon-SmokingSeating Area
  • Pets allowed
  • Extended-stay suites
  • Non-smoking rooms
FromUS$ 93 /nightSelect
5.8
Needs improvement
Map
1.2 mi from City Center1153 yd from Fiserv Forum
Free ShuttleFree ParkingPets Allowed
  • Complimentary downtown shuttle service
  • Original artwork in all rooms
  • 24-hour on-site concierge
FromUS$ 67 /nightSelect
6.9
Nice
Map
121 yd from City Center384 yd from Pabst Theater
Rooftop BarSoaker TubValet Parking
  • Milwaukee's only rooftop tiki bar
  • 1930s Art Deco architecture
  • Luxurious in-room soaker tubs
FromUS$ 198 /nightSelect
8.5
Great
Map
272 yd from City Center566 yd from Riverside Theater
Fitness CenterBilliard TableLaundry Facilities
  • Eco-friendly pump dispensers in rooms
  • Non-carpeted rooms with wood floors
  • Complimentary laundry facilities for guests
FromUS$ 174 /nightSelect
8.9
Great
Map
7.0 mi from City Center461 yd from Port of Hamburg
Saltwater poolSpin2CycleOutdoor grill
  • Saltwater pool for family fun
  • Spin2Cycle fitness and laundry
  • Outdoor fire pit and grill area
FromUS$ 109 /nightSelect
7.2
Very good
Map
5.4 mi from City Center896 yd from Four Points Hotel Milwaukee
Indoor PoolHot TubAirport Shuttle
  • Free airport shuttle service
  • Heated pool and hot tub
  • Art Deco hotel design
FromUS$ 84 /nightSelect
5.2
Needs improvement
Map
5.7 mi from City Center1229 yd from Hospitality Inn
Free ParkingRestaurantLaundry
  • On-site restaurant with sports bar
  • Free welcome drink at check-in
  • On-site hiking trails
FromUS$ 50 /nightSelect
8.4
Great
Map
397 yd from City Center144 yd from Riverside Theater
Fitness CenterBusiness CenterOn-site Market
  • Historic Marshall Fields building
  • All-suite with full kitchens
  • Connected to Shops of Grand Avenue
FromUS$ 174 /nightSelect
6.7
Nice
Map
7.7 mi from City Center979 yd from Maitland Park
Airport ShuttleIndoor PoolStarbucks Cafe
  • Free 24-hour airport shuttle
  • Heated indoor pool and hot tub
  • On-site Starbucks coffee shop
FromUS$ 95 /nightSelect
8.4
Great
Map
1106 yd from City Center700 yd from Milwaukee Art Museum
KitchenettesSpaLakefront Patio
  • Fully restored 1920s hotel
  • Full kitchens in every room
  • Lakefront outdoor dining patio
FromUS$ 99 /nightSelect
9.0
Perfect
Map
740 yd from City Center607 yd from Milwaukee Art Museum
SpaCaféFull Kitchen
  • Art Deco architecture with historical charm
  • Fully-equipped kitchens for extended stays
  • Locally-sourced café with courtyard
FromUS$ 149 /nightSelect
8.0
Great
Map
1102 yd from City Center559 yd from Miller High Life Theatre
Private ParkingFlat-screen TVsAir Conditioning
  • Pet-friendly rooms with private bath
  • 24-hour front desk assistance
  • Near Riverside Theater and museums
FromUS$ 109 /nightSelect
7.1
Very good
Map
9.4 mi from City Center248 yd from Camelot Banquet Rooms
Indoor PoolHot TubSun Terrace
  • Pet-friendly accommodations
  • Indoor pool and hot tub
  • Outdoor sun terrace
FromUS$ 84 /nightSelect
8.5
Great
Map
7.5 mi from City Center717 yd from Maitland Park
Indoor PoolFitness CenterFree Shuttle
  • Keyless entry via app
  • Park and fly service
  • Pet-friendly up to 2 pets
FromUS$ 89 /nightSelect
8.5
Great
Map
724 yd from City Center329 yd from Riverside Theater
Valet ParkingFitness CenterMeeting Space
  • Historic building with modern amenities
  • Personalized touches like fresh cookies
  • Complimentary breakfast with local favorites
FromUS$ 162 /nightSelect
8.7
Great
Map
272 yd from City Center566 yd from Riverside Theater
KitchenetteFire PitEV Charging
  • Kitchenette suites with full fridge
  • Outdoor fire pit area
  • Pet-friendly accommodations
FromUS$ 262 /nightSelect
8.4
Great
Map
7.0 mi from City Center422 yd from Port of Hamburg
Airport ShuttleIndoor PoolMeeting Space
  • 24-hour airport shuttle
  • Outdoor gas fire pits
  • 6,700 sq ft meeting space
FromUS$ 112 /nightSelect
5.0
Needs improvement
Map
7.7 mi from City Center910 yd from Maitland Park
Conference CenterIndoor PoolFitness Center
  • Park and Fly package with shuttle
  • Complimentary drink coupons at check-in
  • 11,000 sq ft conference center
FromUS$ 127 /nightSelect
9.1
Perfect
Map
2.8 mi from City Center22 yd from Bay View Banquets and Casino
Sorella RestaurantCommunal KitchenKeyless Entry
  • Boutique design with local art
  • Purpose-built dog-friendly rooms
  • On-site Italian restaurant Sorella
FromUS$ 187 /nightSelect
5.2
Needs improvement
Map
5.5 mi from City Center46 yd from Hospitality Inn
Airport ShuttleIndoor PoolLaundry Facilities
  • Free roundtrip airport shuttle
  • Indoor heated pool for families
  • Near Harley-Davidson Museum tours
FromUS$ 69 /nightSelect
7.7
Very good
Map
4.0 mi from City Center1295 yd from American Family Field
Shuttle ServiceIndoor PoolCocktail Lounge
  • Complimentary shuttle to Brewers games
  • Heated indoor pool and hot tub
  • On-site restaurant and cocktail lounge
FromUS$ 83 /nightSelect
7.4
Very good
Map
2.3 mi from City Center769 yd from The Rave/Eagles Club
Welcome DrinkMultilingual StaffSnack Bar
  • Multilingual 24-hour front desk
  • Complimentary welcome drink offered
  • On-site snack bar and coffee shop
FromUS$ 84 /nightSelect
8.2
Great
Map
2.4 mi from City Center1030 yd from The Rave/Eagles Club
High TeaMansion TourOutdoor Fireplace
  • Victorian mansion with guided historical tours
  • Personalized gourmet breakfast and high tea
  • Private garden with outdoor fireplace
FromUS$ 195 /nightSelect
8.2
Great
Map
618 yd from City Center343 yd from Milwaukee Art Museum
Bicycle RentalWheelchair AccessCoffee Shop
  • Historic 1898 double house
  • Silent service for privacy
  • Pet-friendly with bowls and bags
FromUS$ 223 /nightSelect
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Downtown Milwaukee offers a range of pet-friendly hotels that put you and your furry companion in the heart of the city. From restored boutique properties like The Iron Horse Hotel (Adults Only) to modern stays like Hyatt Place Milwaukee Downtown, each hotel provides unique amenities such as free Wi-Fi, fitness centers, on-site dining, and easy access to landmarks like the Milwaukee Art Museum and Fiserv Forum. Whether you're traveling for business or leisure, these central locations ensure you're never far from the action.

Budget expectations vary: rates typically start around $129 per night for mid-range options, while luxury stays like The Pfister Hotel or The Trade, Autograph Collection may cost more. For a seamless experience, look for hotels offering breakfast, parking, and pet-friendly policies-many provide these without hidden fees. Book directly or through trusted platforms to secure the best rates and free cancellation options, and check guest scores like the 93/100 'Superb' rating at The Trade or the 86/100 'Fabulous' score at The Westin Milwaukee to make an informed choice.