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Trip from Lincoln, WI to Milwaukee, WI

Compiled and reviewed by the Trip.ovh planning team at COD Solutions Oy · Last reviewed Apr 17, 2026 · Editorial standards

Drive Time

2h 43m

Distance

136.2 mi

219 km

Drive Score

8/10

Great drive

Same Day?

Yes, doable

Fuel Cost

$21

one way

EV Charging

Unknown

Best Time to Leave

Save up to 32 min
4 AM
2h 33m ★
6 AM
2h 44m
8 AM
3h 5m
10 AM
2h 51m
12 PM
2h 49m
3 PM
2h 52m
5 PM
3h 4m
8 PM
2h 37m

Estimated drive times based on typical traffic patterns. Actual times may vary with weather, construction, and real-time conditions.

Best Time Drive vs Fly
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Downtown Lincoln, WI, WI

Lincoln, WI

Ramon Perucho

city in and county seat of Milwaukee County, and largest city in State of Wisconsin, United States

Milwaukee, WI

Wikimedia Commons

Trip Overview

The drive from Lincoln, WI to Milwaukee, WI covers 136.2 miles and takes about 2h 43m behind the wheel. This route is realistic as a one-day drive if you keep your stops efficient.

The route leans on I 43, State Highway 57, County Road S for much of the mileage, and the overall profile is highway-focused drive. The longest uninterrupted segment is about 112.2 miles on I 43. At current regular gas prices, budget about $21.29 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.

Break Rhythm

1 planned break

A short stop every 2 to 3 hours is enough for this drive.

Midpoint

68.1 miles from Lincoln, WI

A natural place for your longest stop of the day , about 1h 26m into the drive .

Who Is This Route For?

Weekend Trip

Doable as a same-day drive at 2h 43m. Total distance: 136.2 miles.

Family Friendly

Moderate complexity with 1 natural rest stops along the way.

Solo Traveler

2h 43m drive, comfortable solo distance.

First-Time Driver

Mostly highway driving (93%). Straightforward navigation.

Drive Character

This is a 2h 43m highway drive covering 136.2 miles, with most of the trip on I 43 and State Highway 57. The longest continuous stretch is about 112.2 miles on I 43.

Most of the miles stay on highways, which makes pacing and fuel planning easier than turn-by-turn city driving.
There are about 16 navigation steps in the underlying route data, so the final approach matters more than the middle miles.
I 43 is the longest continuous segment at about 112.2 miles.

How Hard Is This Drive?

This is a straightforward highway drive that stays mostly on I 43 and State Highway 57. There are only a few real navigation decisions along the way. The trickiest moment comes around 6.7 miles in near CTH DK / County Road DK.

Driving Effort 4/10

Easy - simple navigation with a manageable amount of wheel time

Balances navigation complexity with total wheel time.

This is a straightforward 2h 43m drive. You will face about 10 decision points, but nothing that requires special attention if you follow navigation.

Where does it get tricky?

The main spots that need attention: at 6.7 miles (CTH DK / County Road DK): Navigation decision point; at 21.7 miles: Exit ramp - move to the correct lane early; at 22.1 miles (I 43): Merge point - match speed before joining. Lane positioning matters here.

Critical Maneuvers

5 of 10 key points

These are the spots where you need to pay the most attention. Preview them before you drive.

4
6.7 mi into trip | ~16m in | CTH DK / County Road DK

At end of road, turn left onto CTH DK / County Road DK

Navigation decision point

4
21.7 mi into trip | ~34m in

Take the exit toward I 43 South: Milwaukee

Exit ramp - move to the correct lane early

Toward I 43 South: Milwaukee
5
22.1 mi into trip | ~35m in | I 43

Merge onto I 43

Merge point - match speed before joining. Lane positioning matters here

Use the straight / slight right lanes.
8
134.4 mi into trip | ~2h 38m in

Take the exit toward WI 145: Fond du Lac Avenue, McKinley Avenue

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 73A Toward WI 145: Fond du Lac Avenue, McKinley Ave...
6
135.5 mi into trip | ~2h 41m in | North Water Street

Turn right onto North Water Street

Lane positioning matters here

Use the right lane.

Main Roads

Road Distance Duration
I 43 112.2 mi 2h 3m
State Highway 57 13.8 mi 15m
County Road S 6.6 mi 16m
County Road DK 0.9 mi 2m
North Water Street 0.5 mi 1m
West Fond du Lac Avenue 0.5 mi 1m
West McKinley Avenue 0.3 mi <1m
East Mason Street 0.1 mi <1m
Longest stretch: I 43 — 112.2 mi, about 2h 3m

Turn-by-Turn Driving Directions

Step-by-step road directions between Lincoln, WI and Milwaukee, WI.

1

Start on Red River Lincoln T L Road

84 ft · 5 sec · Red River Lincoln T L Road
2

Turn right onto CTH S

4.1 mi · 9 min · County Road S
3

Continue on CTH S

2.5 mi · 6 min · County Road S
4

At end of road, turn left onto CTH DK

0.9 mi · 2 min · County Road DK
5

Take the ramp

0.4 mi · 54 sec
6

Merge onto WI 57

14 mi · 15 min · State Highway 57
7

Take the exit

0.5 mi · 58 sec
Toward I 43 South: Milwaukee
8

Merge onto I 43

112 mi · 2 hr 3 min · I 43
Use the straight / slight right lanes.
9

Take the exit

0.3 mi · 36 sec
Exit 73A Toward WI 145: Fond du Lac Avenue, McKinley Avenue Use the straight / slight right lanes.
10

Turn left onto WI 145

0.5 mi · 1 min · West Fond du Lac Avenue
Use the left / straight lanes.
11

Continue on West McKinley Avenue

0.3 mi · 54 sec · West McKinley Avenue
Use the left / straight lanes.
12

Continue on East Knapp Street

484 ft · 18 sec · East Knapp Street
13

Turn right onto North Water Street

0.5 mi · 1 min · North Water Street
Use the right lane.
14

Turn left onto East Mason Street

0.1 mi · 29 sec · East Mason Street
15

Turn right onto US 18; WI 32

405 ft · 13 sec · North Milwaukee Street
16

Arrive at destination

US 18; WI 32

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.
Plan roughly 1 meaningful break for fuel, food, and rest.
The halfway point lands around 68.1 miles from Lincoln, WI, or about 1h 26m into the drive.
The longest continuous stretch on this route runs about 112.2 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 30 miles or 44m in

Use this first pause for coffee, a restroom break, and a quick traffic check ahead.

Halfway reset

Around 68.1 miles or 1h 26m in

This is the best place for your longest stop, a real meal, and a full fuel check.

Final approach

Final hour starts around 2h 14m

Traffic, exits, and arrival timing usually matter more near Milwaukee, WI than in the middle of the route.

Before You Leave

+

Open the route before leaving Lincoln, 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 Lincoln, WI

This is one driving day of about 136.2 miles and 2h 43m.

Your first comfortable stop window is around 30 miles from Lincoln, WI.
This route can stay practical as a one-day drive if traffic stays reasonable.
Plan about 1 real break rather than only quick fuel stops.
The longest stretch is on I 43 for about 112.2 miles.

Where to Stop

Rest stops, refuel points, and overnight suggestions along this route.

Halfway Point

Midpoint

About 68.1 mi from Lincoln, WI · 1h 26m into the drive

city in and county seat of Sheboygan County, Wisconsin, United States

Mid-route town

Meal stop

Sheboygan, WI

68 mi into the route

Best for: Lunch, fuel, and a longer reset

This sits close to the middle of the route, so it works well for the longest stop of the day.

Pacing Suggestions

Bellevue, WI

Fuel and coffee

A short stop after about 30 miles helps settle the day before fatigue starts building.

Manitowoc Rapids, WI

Meal break

The midpoint is around 68.1 miles from Lincoln, WI, which is a good place for a longer meal and fuel stop.

Before the longest stretch

Fuel check

Top up before I 43 if your tank is already low. That segment runs about 112.2 miles.

Arriving in Milwaukee, WI

The final approach into Milwaukee, WI usually feels slower than the middle of the drive, so avoid planning your tightest schedule at the very end.

Try to arrive with enough fuel left to skip an immediate station stop unless you already know the area around Milwaukee, WI.

After long uninterrupted mileage, take five minutes before the last urban segment to reset and refocus on exits, merges, and city traffic.

These stop ideas are pacing suggestions — the exact town or exit can change with traffic, hotel plans, and fuel range.

Nearby Places

Restaurants, cafes, gas stations and more along your route.

Top Coffee Stop

Discourse Coffee | Downtown

4.8 ★ ★ ★ ★ ★

Milwaukee, Wisconsin

Near the end, right off the route

0.4 mi from route ~1 min detour Inexpensiv mile 136.2

Hours: 7:30 am–4:30 pm

Visit website

Vendetta Coffee Bar

4.7 ★ ★ ★ ★ ★

Milwaukee, Wisconsin

1 mi

Wisco Sips - Ledgeview

4.8 ★ ★ ★ ★ ★

Green Bay, Wisconsin

0.7 mi

Anodyne Coffee Roasting Co. | Bay View

4.7 ★ ★ ★ ★ ★

Near the end, ~9 min detour

3.4 mi from route ~9 min detour $1 to $10 mile 136.2

Milwaukee, Wisconsin

Hours: 7 am–7 pm

+14144890765

Visit website

Discourse Coffee | Downtown

4.8 ★ ★ ★ ★ ★

Near the end, right off the route

0.4 mi from route ~1 min detour Inexpensiv mile 136.2

Milwaukee, Wisconsin

Hours: 7:30 am–4:30 pm

Visit website

Vendetta Coffee Bar

4.7 ★ ★ ★ ★ ★

Near the end, right off the route

1 mi from route ~2 min detour $10 to $20 mile 136.2

Milwaukee, Wisconsin

Hours: 7 am–10 pm

Visit website

Wisco Sips - Ledgeview

4.8 ★ ★ ★ ★ ★

Early in the drive, right off the route

0.7 mi from route ~2 min detour $1 to $10 mile 29.2

Green Bay, Wisconsin

Hours: 6 am–5:30 pm

Visit website

Little Sips Play Cafe

4.9 ★ ★ ★ ★ ★

Around the midpoint, short detour

1.5 mi from route ~4 min detour $1 to $10 mile 58.4

Manitowoc, Wisconsin

Hours: 9 am–2 pm

+19207175060

Visit website

Valentine Coffee Roasters on Vliet Street

4.8 ★ ★ ★ ★ ★

Near the end, ~10 min detour

4.1 mi from route ~10 min detour $1 to $10 mile 136.2

Milwaukee, Wisconsin

Hours: 6 am–6 pm

+14149888018

Visit website

Kompound Cafe

4.7 ★ ★ ★ ★ ★

Near the start, ~10 min detour

3.8 mi from route ~10 min detour $10 to $20 mile 19.5

Green Bay, Wisconsin

Hours: 7 am–3 pm

+19206007626

Visit website

Place data sourced from public business listings. Hours and availability may vary.

Fuel & Cost

Regular Gas

$21.29 one way

$42.59 round trip

$3.97/gal 25.4 MPG avg 48 kg CO2
Fuel Type $/gal One Way Round Trip
midgrade $4.36 $23.38 $46.76
premium $4.89 $26.21 $52.42
diesel $5.61 $30.07 $60.14

No toll roads detected on this route.

Estimated Trip Cost (one way, 1 person)

Fuel

$21

Meals

$25–$50

Total

$46–$71

Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.

Estimated CO2 emission: 47.7 kg one way. Prices: EIA weekly data, 2026-04-13.

Driving Electric?

About $14 in charging · 0 stops · 67% less CO2

Vehicle Type kWh Stops DC Fast Home Charge
Average EV 40.9 0 $14.30 $6.54
Efficient EV 34.1 0 $11.92 $5.45
EV Truck/SUV 54.5 0 $19.07 $8.72

Gas CO2

48 kg

EV CO2

16 kg (67% 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 Apr 14, 2026

Origin

Lincoln, WI

Afternoon in Lincoln on Friday

Local time

1:09 PM

CDT

Current temp

60°F

Unavailable

Live forecast

Destination

Milwaukee, WI

Afternoon in Milwaukee on Friday

Local time

1:09 PM

CDT

Current temp

55°F

Mostly Cloudy then Showers And Thunderstorms

SW 10 to 15 mph 88% chance Live forecast

Flood Warning

Flood Warning issued April 13 at 9:28PM CDT until April 19 at 4:34PM CDT by NWS La Crosse WI

Special Weather Statement

Special Weather Statement issued April 13 at 9:26PM CDT by NWS Green Bay WI

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

5 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 43m 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.

Frequently Asked Questions

The drive from Lincoln, WI to Milwaukee, WI covers 136.2 miles and takes about 2h 43m without stops. Add 15-30 minutes for a fuel or rest stop on longer drives.

The main roads are I 43, State Highway 57, County Road S. Most of the drive stays on highways, so watch for ramps and exits.

This is a comfortable same-day trip.

The midpoint is about 68.1 miles from Lincoln, WI. Look for rest areas, gas stations, or food options near the halfway mark.

At current regular gas prices, expect to spend about $21.29 one way. This estimate uses 25.4 MPG — your actual cost will vary with your vehicle's fuel efficiency and current gas prices.

Leave by 9 AM and you'll arrive before lunch. Even a 4 PM departure gets you there before dark in summer.

Plan about 1 meaningful break for fuel, food, or rest. A short stop every 2 to 3 hours is enough for this drive.

This is a straightforward 2h 43m drive. You will face about 10 decision points, but nothing that requires special attention if you follow navigation.

The main spots that need attention: at 6.7 miles (CTH DK / County Road DK): Navigation decision point; at 21.7 miles: Exit ramp - move to the correct lane early; at 22.1 miles (I 43): Merge point - match speed before joining. Lane positioning matters here.

The route from Lincoln, WI to Milwaukee, WI does not surface many named destination signs beyond the main corridor.

How this page is built

Compiled by the Trip.ovh planning team at COD Solutions Oy from open government datasets — OSRM over OpenStreetMap for geometry, and EIA for fuel prices. See our methodology for refresh cadence and limitations.

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