Waukesha Hotel Guide - Pet Friendly Hotels in Waukesha, Milwaukee

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Our top choices for Waukesha pet-friendly hotels

Comfort Inn Waukesha - Milwaukee West

Comfort Inn Waukesha - Milwaukee West
2.5 star property
Waukesha
8.2 out of 10, Very good, (1001)
"Great, CLEAN rooms, great breakfast. They will also let you late check out (12 instead of 11) for free. Everyone was so nice! This really should be at least a 4 start hotel, deff a hidden gem for the price! Great nights stay!👍👍"
United States
Amanda
The price is €72
includes taxes & fees
2 Jan - 3 Jan 2026
Comfort Inn Waukesha - Milwaukee West

Tru By Hilton Milwaukee Brookfield

Tru By Hilton Milwaukee Brookfield
2.5 star property
Waukesha
9.0 out of 10, Wonderful, (754)
"Courteous staff, clean good-sized rooms, tasty breakfast. Great rates!"
United States
Carlos
The price is €78
includes taxes & fees
28 Dec - 29 Dec
Tru By Hilton Milwaukee Brookfield

Baymont by Wyndham Waukesha

Baymont by Wyndham Waukesha
2.5 star property
Waukesha
7.0 out of 10, Good, (1001)
"Friendly staff, clean room, warm shower, good breakfast"
United States
Heidi
The price is €59
includes taxes & fees
2 Jan - 3 Jan 2026
Baymont by Wyndham Waukesha

Marriott Milwaukee West

Marriott Milwaukee West
3.5 star property
Waukesha
9.2 out of 10, Wonderful, (1000)
"A very clean and accommodating hotel. We will stay here again!"
United States
David
The price is €92
includes taxes & fees
28 Dec - 29 Dec
Marriott Milwaukee West

Extended Stay America Select Suites - Milwaukee - Waukesha

Extended Stay America Select Suites - Milwaukee - Waukesha
2.5 star property
Waukesha
7.4 out of 10, Good, (884)
"Very Nice place to stay "
United States
Corey
The price is €70
includes taxes & fees
10 Jan - 11 Jan 2026
Extended Stay America Select Suites - Milwaukee - Waukesha

Home2 Suites by Hilton Milwaukee Brookfield

Home2 Suites by Hilton Milwaukee Brookfield
3.0 star property
Waukesha
8.8 out of 10, Excellent, (557)
"Rose at the front desk was very helpful and so sweet! The rooms were clean and the rest of the staff was nice as well! "
United States
Jenna
The price is €94
includes taxes & fees
18 Jan - 19 Jan 2026
Home2 Suites by Hilton Milwaukee Brookfield

Ramada by Wyndham Milwaukee

Ramada by Wyndham Milwaukee
3.5 star property
Marquette
7.8 out of 10, Good, (343)
"It was nice"
United States
Maliyah
The price is €68
includes taxes & fees
28 Dec - 29 Dec
Ramada by Wyndham Milwaukee

La Quinta Inn & Suites by Wyndham Milwaukee Delafield

La Quinta Inn & Suites by Wyndham Milwaukee Delafield
3.0 star property
Delafield
8.6 out of 10, Excellent, (1001)
"Wonderful staff free complimentary breakfast free parking pool and gym if interested! Clean facility and rooms were huge ! "
United States
Diane
The price is €69
includes taxes & fees
24 Dec - 25 Dec
La Quinta Inn & Suites by Wyndham Milwaukee Delafield

Motel 6 Oak Creek, WI

Motel 6 Oak Creek, WI
2.0 star property
Oak Creek
6.6 out of 10, (1014)
"Staff are great"
United States
Christy
The price is €40
includes taxes & fees
28 Dec - 29 Dec
Motel 6 Oak Creek, WI

Tru By Hilton Milwaukee Downtown, WI

Tru By Hilton Milwaukee Downtown, WI
2.5 star property
Downtown Milwaukee
8.2 out of 10, Very good, (1002)
"Only place we stay in Milwaukee."
United States
Kerstin M
The price is €77
includes taxes & fees
11 Jan - 12 Jan 2026
Tru By Hilton Milwaukee Downtown, WI
Lowest nightly price found within the past 24 hours based on a 1 night stay for 2 adults. Prices and availability subject to change. Additional terms may apply.

Top Waukesha Hotel Reviews

Frequently asked questions

What's the best dog-friendly place to stay in Waukesha?
Tru By Hilton Milwaukee Brookfield is a top hotel for people travelling with their pets, and offers a fitness centre and free WiFi for its human guests. Other good options to stay with your pet include Comfort Inn Waukesha - Milwaukee West and Home2 Suites by Hilton Milwaukee Brookfield.
How many pet-friendly hotels will I find in Waukesha?
Frolic with your furry friend at one of Expedia's 10 dog-friendly Waukesha hotels or accommodation options.
What's the best time of year to travel to Waukesha with my pet?
When you travel with your pet, keeping tabs on the weather can help you make the trip more safe and fun for everyone. The hottest months are usually July and August, with an average temperature of 20°C, while the coldest months are January and February, with an average of -3°C. The snowiest months in Waukesha are January, March, November and February, with each month seeing an average of 21 cm of snowfall.
What is there to see and do with your pet in Waukesha?
Known for its architecture and live music, Waukesha has lots to offer visitors, including its sports, churches and university life. See the local sights and visit Frame Park Formal Gardens and Center Court Sports Complex. While you're there, make sure you don't miss Waukesha County Expo Center and Infinity Fields Baseball Park.