Is the ferry worth it?

Yes, it saves you from driving through Chicago traffic.

How long is the drive?

Approximately 6 hours depending on traffic.

Yes, the downtown and lakefront areas are generally safe.

What is the best time to visit?

Summer is best for festivals and lakefront activities.

Are there trains to Milwaukee?

Amtrak's Hiawatha line runs from Chicago to Milwaukee, but you must get to Chicago first.

Royal Oak

Milwaukee

Driving Ship

Royal Oak to Milwaukee

Updated: 28 May 2026

The journey from Royal Oak to Milwaukee can be done by driving around the southern tip of Lake Michigan via I-94 (approx. 6 hours) or by taking the Lake Express Ferry from Muskegon to Milwaukee (seasonal). Driving takes you through Chicago, which can be a major traffic hurdle. The ferry offers a relaxing alternative, cutting down on driving time significantly.

Total Distance: 550 km driving, 280 km air distance.

Fastest Way

The ferry is the fastest if you factor in Chicago traffic.

Cheapest Way

Driving is the cheapest if you avoid the ferry costs.

Compare Royal Oak to Milwaukee Routes

	Driving Direct	Ship Direct
Duration	6 hours	2 hours 30 mins
Avg Price	$60-$80 in fuel	$100-$200
Operator	Personal Vehicle	Lake Express
Route	I-94 W	Muskegon to Milwaukee
Tip	Avoid Chicago during rush hour at all costs.	Ferry is seasonal; check the schedule in advance.

Travel Tips

Chicago Traffic
If driving, use the I-294 bypass to avoid downtown Chicago.
Ferry Booking
Book your ferry tickets well in advance, especially for summer weekends.
Dining
Try the local cheese curds and craft beers, which Milwaukee is famous for.
Navigation
Use Waze to monitor traffic in Chicago and Milwaukee.
Rest Stops
There are many rest areas along I-94 in Indiana and Illinois.

Safety Tips

Highway Safety
I-94 is a very busy highway; stay alert for sudden traffic slowdowns.
Weather
Lake Michigan can cause rapid weather changes; keep your headlights on during rain.
Emergency
Keep your phone charged and have a backup power bank for long drives.
Vehicle Safety
Check your tire pressure before starting the trip.