Getting to the Park
The Park is located in and along Lake Michigan just east of the Summerfest Grounds and immediately south of Discovery World. The north entrance to the Park is the path to the Park’s bridge which is south of the Discovery World entrance. The south entrance to the Park is where Erie Street ends and meets the Milwaukee harbor entrance. Follow the Park road east along the water and under the Hoan Bridge. A “State Park Sticker” is not required, and free parking is available at marked locations and along the road. Follow the road to the end for parking nearest the south entrance to the Park.
From I-94 North, I-43 South or I-94 East: Take the I-794 South Exit/Lakefront Exit and proceed east, exiting at the Lakefront exit ramp.
From the North:
To enter Lakeshore from the north, at the stop light turn left onto Lincoln Memorial Drive. At the first light, turn right on to Clybourn-you’ll see the large white Discovery World building to the east. The Park’s north entrance path is on the south side of the right side of the road, west of Discovery World’s building.
From the South:
To enter the Park from the south where free parking is available, turn right (south) at the end of the I-794 exit ramp onto South Harbor Drive. Continue south along the Summerfest grounds to Polk Street. If open to traffic, take a slight left and continue south on the road through Summerfest’s parking lots. At the river, turn left. Should the road through the parking lot be closed, turn right (west) on Polk, and then left (south) on Erie until the road ends at the river. Turn left (east) on the Park road.
By Boat, Kayak, or Canoe
From the East: Come by boat and dock at one of our 20 slips, please call 414.274.4283 to make a reservation for overnight boat camping. Or, paddle your kayak or canoe under the Park’s signature bridge towards the lagoon and land on the beach.
The Oak Leaf Trail and Hank Aaron State Trail will take you right to the Park. Visit Milwaukee By Bike
Milwaukee County Transit bus route 10 stops on Prospect Ave., across from O’Donnell Park. Routes 10, 12, 20, 23, 30, 31 and 137 serve the Downtown Transit Center on Wisconsin Ave. at Cass St., one block west of the lakefront. A pleasant 5 to 10 minute stroll along Milwaukee’s lakefront to the southeast and you’ll find yourself by Discovery World and the path to Lakeshore State Park.
Ozaukee County Express route 143 runs on weekdays. It stops at the Downtown Transit Center on Michigan St. and Lincoln Memorial Drive, with service from Cedarburg, Fredonia, Grafton, Mequon, Port Washington and Saukville. A pleasant 5 to 10 minute stroll along Milwaukee’s lakefront to the southeast and you’ll find yourself by Discovery World and the path to Lakeshore State Park.
Parking at Lakeshore State Park
- North Entrance – On Harbor Drive when no festivals are scheduled for the Summerfest grounds
- South Entrance – Along the park road starting at Erie Street and at marked locations
- O’Donnell Parking lot on Michigan Street
- Discovery World and Milwaukee Art Museum lots
- Summerfest lots during festivals