Waukesha hotels

The Clarke Hotel is located in the center of downtown Waukesha. This well-appointed hotel with its warmly decorated rooms is attached to an Irish pub and restaurant. This accessible hotel is both kid friendly and pet friendly, featuring free Wi-Fi, free breakfast, air-conditioning, a flatscreen TV in every room, suites with living space, and some rooms with jetted tubs. You’ll also receive passes to a local fitness center and access to a central city parking lot.

The Hidden Serenity Bed and Breakfast is 40 miles to the north of Waukesha, about 45min away. Nestled among tree-filled acreage, this hotel offers rooms with hardwood floors, burnished wood moldings, and plush décor. Some rooms have a fireplace or jetted tubs. The spa on the first floor offers couples massages with extra add-ons such as foot and scalp massages. You can birdwatch on the wooded trail through the property then come back to the hotel to enjoy tea, coffee, or hot chocolate. A 2022 Travelers’ Choice, Hidden Serenity is designed for couples and does not welcome pets or small children.

The Comfort Inn in Waukesha welcomes you with a spacious lounge/lobby with comfortable seating and a stone fireplace. An exquisite breakfast bar includes several hot items and ample, warmly lit seating. Kids stay free, and family rooms are available. Rooms have a microwave, mini fridge, flatscreen TV, and desk. The hotel has a business center and a fitness center. This non-smoking and pet-friendly hotel is right off I-94.

The Inn at Pine Terrace, just 20min west of Waukesha, is a palatial house built in 1879. Set well back from the road, this white stone Victorian mansion with its porches, balconies, and turrets will make you feel like you’ve stepped back in time. The interior preserves a historical look and feel while offering modern creature comforts including free Wi-Fi, air-conditioning, and wheelchair access. This non-smoking venue is both kid-friendly and pet friendly and just a 15min walk to Fowler Lake Park.

After you launch a hotel search on KAYAK, you can refine your research by neighbourhood, which allows you to pick the central Waukesha districts. You can also do a search using the city map to choose a specific location, like Waukesha city centre

Take a look at our extensive hotel map to find the best hotels near you.

There are many hotels in Waukesha that offer both parking and free parking. Popular choices among KAYAK users include Milwaukee Marriott West, Extended Stay America Select Suites - Milwaukee - Waukesha and Baymont by Wyndham Waukesha.