Most scenic route from Madison to Milwaukee??? (Waukesha, Watertown: drive, water)

[Onalark999]

At the end of October, a friend and I will drive from Madison to Milwaukee. What's the more scenic & interesting route - traveling smaller roads and highways North of I-94 or South of I-94? We'd like to see some sites on our drive. Any advice and information is helpful. Thanks in advance.

[Milwaukee City]

Take hwy 12 into fort Atkinson, then take 106 east, 106 east turns into CI take east once you cross over 67 it turns into hwy C, take C east turn right on hwy D, hwy D will run you into Sunset drive into waukesha and it's all city from there until the lake. I would not take hwy 18 since it's not scenic and there are to many towns and stop lights. I used to take this way all the time when coming from madison when I just wanted to drive. I even biked it once, those days are over.

Another option is when your on CI to turn right onto ZC then make a left onto ZZ then take that until that hit 59 and take that right into waukesha.

[ccjarider]

And then when you get to Waukesha you will get lost forever in a maze of circular, one way sreets that suck you in, confuse the hell out of you and, if you are lucky, will let escape back to the real world in a couple of days.

[Jesse276]

I've taken the northern route parallet to 94, a couple times. Generally, I would follow State Highway 19 to Watertown... then take State Highway 16 until it links back up with I-94 near Waukesha.

There are some nice towns you head through, some rolling hills... generally scenic WI. I usually take it when I'm coming back from the Dells, so it's not really out of the way for me.