Waterfront vacation rentals in Waukesha County

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Top-rated waterfront rentals in Waukesha County

Guests agree: these waterfront rentals are highly rated for location, cleanliness, and more.

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Guest favorite

The living area features vaulted ceilings, providing an open feel. A sectional couch and armchair are arranged around a central ottoman, with a dining table nearby. Large windows allow natural light to fill the space, offering views of the outdoors.

Home in Mukwonago

4.94 out of 5 average rating, 53 reviews

Relaxing Lake House Getaway on Phantom Lake

Located on the lake with access to both Upper and Lower Phantom lake. Directly next to the public boat landing for easy access to the water to enjoy time on the lake. This newly furnished 3 bedroom, 2.5 bath home is the perfect space to enjoy the lakeside views and everything you would need for a comfortable stay! Each room has a view of the lake to enjoy at all times of the day. Stamped concrete patio with gas fire pit to relax outside. Close to many things that might bring you to the area.

Guest favorite

The exterior showcases a charming home set against a lush green lawn. A circular stone fire pit is visible, surrounded by well-kept grass. A patio, furnished with seating, is located at the back of the house, framed by trees and vibrant landscaping.

Home in Nashotah

4.94 out of 5 average rating, 79 reviews

Beautiful home on Okauchee Lake, WI

I have a beautiful home on a fun lake. It is just 25 mins from Milwaukee and 50 mins from Madison. There are several bars and restaurants on&off the water; you can either walk, drive or boat to. I have a boat slip available if you want to bring your own 18' or smaller boat.There is a large bonfire pit and yard for playing games by the lake. There is a fire-table on the patio for those quiet nights sitting out under the stars. Winter is spectacular here too. The Nashotah Park is down the block.

Top guest favorite

A serene view of Pewaukee Lake is captured, featuring a large tree on the lawn and multiple docks lined along the water's edge. The sky is adorned with soft clouds reflecting colorful hues, complementing the peaceful lake setting.

Home in Pewaukee

5 out of 5 average rating, 55 reviews

Luxury Lake Home-Miles of Lake Views-Private Pier

This newly built Pewaukee Lake home has 3 levels of living space & sleeps 11 with 4 BRMS 3.5. baths & 40' of private lake frontage walking distance to 2 restaurants/bars. Only 2 miles from Downtown Pewaukee Beach, Shops & Restaurants. This modern lake home commands magnificent lake views for miles with private pier, kayak, paddle board, pedal boat, private outdoor fire pit & grilling/lounge area at the shoreline. Enjoy stunning lake views including views of Downtown Pewaukee City lights @ night!

Top guest favorite

A charming two-story building is presented with white siding and a grey shingled roof. Large black awnings identify the Education & Conference Center and Virtual Office Suites. The entrance is framed by lush greenery, with outdoor seating areas featuring tables and chairs along the front.

Condo in Delafield

4.95 out of 5 average rating, 55 reviews

DElafield Rivers Gateway Luxurious Condo

Beautiful fully furnished Condo sitting in the heart of Delafield, living room (1 sofa bed leather couch, 2 leather chairs 2 comfy cushy cloth chairs,an electric fireplace), 2 full bathrooms, 3 bedrooms upstairs, full kitchen, Balcony with table and 3 chairs. Guests have access to the peaceful riverwalk overlooking the Mill run creek (there is 3 rocking chairs & hammock). Guests rent a single or multiple rooms or the whole condo. If the full condo is not rented, guests may share common space.

Guest favorite

The compact kitchen features wooden cabinetry with a warm finish, equipped with a double sink, stovetop, and oven. A microwave is also present on the countertop. Light streams in through a nearby window, with utensils hanging on display, creating a functional cooking space.

Home in Menomonee Falls

4.95 out of 5 average rating, 132 reviews

Exhale, rest

Exhale. The perfect combination. This home is right in the village of Menomonee Falls with great shopping and restaurants within walking distance. Close to the highway, it’s also a mere half an hour to anything Milwaukee so games, museums, festivals are all also at your fingertips. At the end of dead end road with views of the river, access to trails, and a secluded deck and fire pit, there is definitely also a rural feel. This location has it all. Go out, live life, come back, exhale and rest.

Top guest favorite

Adirondack chairs are arranged around a crushed stone fire pit, overlooking a serene lake at sunrise. The warm orange glow of the sun reflects on the water's surface, surrounded by a misty atmosphere and silhouetted trees.

Cottage in Mukwonago

5 out of 5 average rating, 36 reviews

Charming Phantom Lake Cottage

Come relax at our cottage located directly on Phantom Lake and not a channel. This 2 bedroom, 2 bath, plus sleeping loft area home is comfortably furnished and a perfect space to enjoy all lake life offers year round. Free public boat launch located nearby with our private pier/dock and anchored swim raft available for use on a seasonal basis along with multiple kayaks and paddle boat on site. Attached composite deck and crushed stone fire pit area are perfect spots to enjoy the outdoors.

The exterior of the vacation home features a welcoming walkway leading to the entrance. A well-maintained lawn surrounds the house, and two white chairs are positioned on a small patio, offering a pleasant outdoor seating area. Lush greenery and landscaping enhance the setting.

Vacation home in Oconomowoc

4.86 out of 5 average rating, 116 reviews

Scenic 4 Bedroom WI Lake Home - Newly Renovated!

Located just 30 mins west of Milwaukee lies this fabulous vacation lake home featuring 4 bedrooms, 2 full baths and unbelievable views of the lake throughout the home. Many popular restaurants and bars nearby, including “The Hideaway” right next door. Full lake and pier access, great for fishing and swimming. Nearby boat rental also available. 2 queen, 2 twin, and 1 king size bed along with two couches. The home has been recently renovated and feels like new. Free parking available.

Superhost

A tipi is illuminated from within as dusk settles, casting a warm glow against the evening sky. The structure features an open entrance, framed by tall grass, with the silhouette of distant trees in the background. Utility lines are visible along the horizon.

Tent in Mukwonago

4.94 out of 5 average rating, 17 reviews

Simply Maple Farm Tipi

Off the beaten path, with no other campers nearby. Comes with 2 kayaks for the Fox River which is nearby. You may go up or down river easily and can fish from shore or from the kayaks. There are two adult life jackets also. There is a tipi at this site that you may choose to use. There is a fire ring, weber grill, charcoal, picnic table, benches, porta potty and garbage/recycle bins. Enjoy peace and quiet served daily at Simply Maple, with no other tents in sight!

Top guest favorite

A historic Victorian home showcases intricate architectural details, featuring a turret and a welcoming front porch. The light blue exterior is complemented by vibrant red accents. Lush greenery surrounds the property, enhancing its inviting presence in a serene neighborhood.

Apartment in Oconomowoc

4.99 out of 5 average rating, 80 reviews

Stylish Historic Upper+King Bed/ Walk to Downtown

Looking for a memorable Wisconsin vacation experience? The Blue Belle is in the heart of Lake Country in a small town where you’ll find both adventure and relaxation! Located on a main street that takes you right to shops, restaurants, activities and wedding venues. All within walking distance. ✨Traveling with a larger group, your preferred dates taken or traveling with a furry friend 🐶? Browse our host profile for the details on other listings in the area.

Top guest favorite

An outdoor deck features a wooden table surrounded by black chairs, set against a lush green lawn. The area is marked by tall posts, offering a cozy ambiance. A fire pit is visible alongside seating arrangements, with the lake and trees forming a scenic backdrop.

Home in Delafield

5 out of 5 average rating, 9 reviews

Remodeled Home on Wooded Lake Nagawicka Channel

Relax with the whole family at this beautifully restored home on the channel of Lake Nagawicka! This 4-bedroom retreat comfortably accommodates 10 adults and 2 kids, offering the perfect setting for family gatherings, friend getaways, or peaceful lakeside retreats. Centrally located near downtown Delafield, but isolated in a tree lined yard. Enjoy the serenity associated with a northern Wisconsin vacation but with convenience of being located in Lake Country.

Superhost

A spacious deck features outdoor dining furniture, with a grill situated nearby. A pathway leads down to a well-maintained lawn, overlooking the lake. Boat docks are visible in the distance, surrounded by lush greenery and a clear sky.

Home in Muskego

5 out of 5 average rating, 3 reviews

Relax at Muskego Lakehouse – 30 mins to Downtown!

Unwind with the whole family at this charming Cape Cod-style lake house! With plenty of beds and ample outdoor seating, it's the perfect spot to relax by the water, soak in the fresh air, or cozy up indoors with stunning lake views. The property features a private dock and a small beach area for endless fun. Cast a line off the pier, take in the breathtaking sunset from the spacious deck, and create unforgettable memories by the lake!

A two-story cottage is surrounded by lush green trees, showcasing a light-colored exterior with a charming shingled roof. The front door is framed by well-maintained shrubs and blooming flowers, emphasizing the welcoming entrance.

Home in Oconomowoc

5 out of 5 average rating, 3 reviews

Forest Bay Cottage

Lakefront Getaway on Okauchee Lake – Cozy Cottage with Stunning Views! Escape to the serene beauty of Okauchee Lake with this charming 2-bedroom, 1-bath cottage, in Wisconsin’s Lake Country. Whether you're seeking a quiet retreat or outdoor adventure, this vacation rental offers it all. Located just 30 minutes west of Milwaukee and 50 minutes from Madison, you’ll have easy access to some of the best lakeside activities in the area!