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No booking fees. Free cancellation on most cars
Save by finding great deals and securing low price rentals
Compare car rental prices from leading providers in Waukesha, Wisconsin with Road Genius. From small economy cars to large SUVs and minivans, you'll find vehicles at low prices in convenient locations. Choose an in-town branch for no airport fees or collect at Milwaukee Mitchell Airport for round-the-clock counters and a bigger selection. Either way, quick access to I-94 puts downtown Milwaukee, Kettle Moraine State Forest and Lake Geneva within an hour's drive.
Waukesha offers several convenient rental options for visitors.
| Location | Pros | Cons |
|---|---|---|
| Waukesha City Locations |
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| Milwaukee Airport (MKE) |
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| Milwaukee Suburbs |
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On average, car rentals in Waukesha cost around $85 per day, with the lowest-priced rentals starting at $29 per day.
Dodge airport surcharges by comparing Waukesha city lots (Bluemound Rd) and nearby Brookfield/New Berlin locations—often cheaper than picking up at MKE 20 miles (32 km) away.
Time it right: Mid-week pickups outside summer and big Milwaukee events (Summerfest, County Fair) usually mean lower rates and better availability.
Book with free cancellation and re-check—Waukesha prices can dip a few days before pickup as suburban branches shuffle inventory.
Weekly deals beat 5-6 day rentals; if you're close to a week, adding an extra day can actually lower the total.
Finding a spot to park in Waukesha is easy, and you have several choices around the city.
| Parking Area | Cost | Time Limits | How It Works |
|---|---|---|---|
| Downtown Streets | Free | Usually 2 hours | Limits enforced on weekdays |
| Downtown Public Lots | Free | 2 hours or all day (varies) | Check signs for specific limits |
| City Parking Structures | Free | No limit in most areas | Located near Five Points and City Hall |
| Shopping Centers | Free | No limit | Fox Run and The Shoppes at Fox River have plenty of space |
| Parks/Outdoor Areas | Free | During park hours | Frame Park, Minooka Park, Fox River Parkway |
| Residential Areas | Free or permit | Check signs | Some areas need permits |
Local Driving Rules:
Get a car to see:
Historic Downtown Waukesha – shops, Five Points, Waukesha County Museum
Frame Park & Fox River Parkway – river paths, picnic areas, gardens
Kettle Moraine State Forest – trails, lakes
Lake Geneva – beaches, boat tours
Milwaukee Lakefront – museums, lake path, Summerfest grounds
Madison – State Capitol, university campus, farmers market
Is it better to rent from Waukesha or Milwaukee Airport if I'm staying in Waukesha?
If you're flying into Milwaukee Airport, renting there gives you a car right away. If you're already in Waukesha or have another way to get there, you can save money by renting locally and avoiding airport fees. Since the airport is only 25 miles (40 km) away, either option is a good choice.
Do I need a special vehicle for exploring Kettle Moraine State Forest?
A regular car is fine for visiting the main parts of Kettle Moraine. The park keeps the roads to visitor centers and major trails paved or in good shape. If you want to explore more remote areas or drive in wet weather, an SUV that sits higher off the ground might give you more peace of mind.
How is winter driving in Waukesha?
Waukesha does a good job clearing snow, so crews clean the main roads quickly after a storm. You can expect winter driving conditions from November to March. While a car with AWD or 4WD is helpful, most rental cars have all-season tires and are fine for most winter driving if you drive with care.
Can I easily commute to Milwaukee from Waukesha?
Yes, you can take I-94 for a direct drive between Waukesha and Milwaukee, and the trip usually takes 25-35 minutes. But, rush hour traffic can make the drive much longer. Rush hour is from 7-9 a.m. heading to Milwaukee and 4-6 p.m. coming back to Waukesha. You might want to change your travel times to avoid the heavy traffic.
Is there public transportation from Milwaukee Airport to Waukesha?
You have limited options. The Milwaukee County bus system doesn't go to Waukesha. A taxi or rideshare from the airport to Waukesha will cost you about $40-60. Coach bus services like Badger Bus or Coach USA have only a few routes and run on limited schedules.
Are there any toll roads around Waukesha?
No, you won't find any toll roads in Waukesha or anywhere else in Wisconsin. You will only have to pay tolls if you drive south into Illinois toward Chicago.
How walkable is downtown Waukesha? Do I need a car for my entire stay?
Downtown Waukesha is easy to walk around, and you can find shops, restaurants and some attractions all close to each other. If you plan to stay just in the downtown area, you might not need a car every day. But, you will need a car to get to shopping centers, parks or other places outside of downtown.
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