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Waterfront vacation rentals in Waukesha County

Find and book unique waterfront rentals on Airbnb

Top-rated waterfront rentals in Waukesha County

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

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Home in Pewaukee

4.8 out of 5 average rating, 104 reviews

Pewaukee Lake Access/Slip 5 bedroom 2 bath home

YouTube -"Pewaukee Lake glamping" 1min 29 second video of exterior property. NOTE: This shows PROXIMITY to lake and TRAIN TRACKS, they do blow horn. Lake Access and slip across street in this 5 bed/2 bath home. Beautiful downtown public beach is just a short 10 min walk away. No Parking on Grass, 4 spots available. Also includes: Use of a kayak and tandem kayak on site at your own risk. Dock and kayaks guaranteed to be in place Memorial day to Labor Day though we aim for May 1st to Oct 1st.

Home in Juneau

4.84 out of 5 average rating, 127 reviews

Take a Break at Lakeside Acres

Lakeside Acres; a 2-bedroom, 1 bath vacation rental home located on beautiful Lake Sinissippi. Open concept living area with furnished patio and private dock. This newly updated home provides the perfect summer getaway or winter retreat for family and friends. Whether you spend your days kayaking with the complimentary kayaks, exploring Horicon Marsh, or soaking up the sun on the dock, you're sure to have an unforgettable stay in this lakefront hideaway. Note: Docks are not in the lake Nov-Apr.

Home in Hubertus

4.86 out of 5 average rating, 404 reviews

Bark Lake, Entire Home, Private Lake Frontage 50ft

A 1,700 sqft home with 3 bedrooms, 2 baths, sofa bed and couch, large outdoor deck, hot tub, grill, 50 feet of lake access. Enjoy the morning sunrise from the East and relax by the waterfront and watch the sunset on the West. Bring the family and enjoy some lake life where the days linger on longer. During the Summer months we have a pier available to fish off of. There are two fire pits, one by the lake and another tucked away near the house. You will love it here, it is very calm and relaxing.

Home in Menomonee Falls

4.94 out of 5 average rating, 108 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.

Condo in Milwaukee

4.99 out of 5 average rating, 202 reviews

Bay View - Lake View on the Park w/Secret Lounge

Our 3 bedroom parkside condo in a beautiful historic renovated home is unique, peaceful, and near everything Bay View has to offer. Enjoy views of Lake Michigan from the front porch and dining room. Secret Vintage Lounge downstairs with antiques from all over the world is the perfect unique space - there is nothing else like this in Milwaukee! This 1st floor condo has perfect proximity to South Shore Park on Lake Michigan - Just a minute walk away from South Shore Beach and a lakefront trail.

Condo in Lake Geneva

4.93 out of 5 average rating, 491 reviews

Charming, Cozy & Eclectic Condo in Lake Geneva!

Quaint 1 BD 1 BA Condo by Lake Como. Neighborhood pool is newly remodeled. Launch your boat, stroll the woods, rent kayaks, play tennis, or chill. The hotel next door has pools to use for a fee. Dine at many local places or right next door, check out the Hotel’s options … plus their outdoor bar and fire pit. We have towels, toiletries, games, WiFi, basic cable, Roku, electric grill, a fireplace, and full kitchen. Don’t expect the Taj Mahal. DO expect to kick back and make great memories!

Villa in Racine

4.96 out of 5 average rating, 116 reviews

Gorgeous historical mansion on Lake Michigan

Welcome to the historic Carpenter House! This is an opportunity to stay in a former Bed & Breakfast overlooking Lake Michigan. A historical neo-classical home built in 1896 with tons on history. The home was completely renovated a few years ago. Wake up and sit on the front porch and enjoy the beautiful view of Lake Michigan. The house is located in the historical district in Racine. The home boasts a ballroom on the 3rd floor that is suitable for small events and a private cute garden.

Condo in Shorewood

4.92 out of 5 average rating, 277 reviews

English Tudor - Upper Flat blocks from the beach

Sophisticated 100 Yr Old English Tudor Upper Flat with hardwood floors, crown moldings, sunken living room, natural fireplace, built-in bookcases, and fully furnished. Spacious 2200 sq. foot 2nd-floor unit. Safe and QUIET neighborhood just blocks from Atwater beach. Cats are on the property and do not go any guest space. Make sure you have the correct number of guests on your reservation request. Bookings on a Friday or Saturday are required to include both nights.

Condo in Lake Geneva

4.98 out of 5 average rating, 120 reviews

Magnificient views in a Lakefront condo, Fireplace

Welcome to this serene waterfront villa in Lake Geneva, Wisconsin, a haven for relaxation. This elegantly designed one-bedroom retreat is perfectly nestled on the shores of Lake Como, offering a blend of rustic charm and modern comfort. The real brick walls and cozy fireplace create a warm and inviting atmosphere. Your stay promises a perfect balance of peaceful relaxation and recreational activities creating unforgettable memories in this beautiful Wisconsin setting.

Guesthouse in Racine

4.9 out of 5 average rating, 216 reviews

Charming log cabin in the woods

This log cabin is an old hunting lodge. It is rustic, charming and quaint, nestled in the woods of Wisconsin and next to a tranquil pond. The location is close to the Johnson Park golf course and 5 miles from the beautiful Lake Michigan shore. It is a perfect place to relax, write or escape from the stress of life. In the winter a 4-wheel drive vehicle is necessary to reach the site. Please note: bathroom facilities are a close walk away. Heating from wood stove only.

Home in Dousman

4.96 out of 5 average rating, 148 reviews

Meracle Acres

Secluded among 50 acres of dense forest, stunning walking trails, wildlife and natural ponds, this one-of-a-kind log cabin is the perfect place to unplug and unwind. Whatever you’re looking for, you can find it all in this beautiful and tranquil getaway. Weekenders can enjoy hiking and exploring the gorgeous nature trails. The log cabin features a custom made bar, vaulted ceilings, a sauna room and outdoor hot tub with gorgeous views of the wildlife that surrounds.

Home in Racine

4.91 out of 5 average rating, 132 reviews

The Beach House at Michigan Blvd.

Always Professionally Cleaned, Disinfected, and Absolutely Stunning 5 Bedroom Beach House across from a Top 10 Rated Beach. Relax in this completely renovated and professionally designed home. Enjoy breathtaking views, gorgeous sunrises on the front porch, and luxury accommodations. Walk to the beach, the zoo, downtown, and the marinas. Or, enjoy a relaxing bike ride along the pristine lakeshore. Perfect for any family size or occasion!

Vacation rentals for every style

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Popular amenities for Waukesha County waterfront rentals

Free parking on premises

Air conditioning

Waterfront apartment rentals

Rental unit in Milwaukee

4.92 out of 5 average rating, 12 reviews

Newly restored Victorian

Rental unit in Fort Atkinson

4.94 out of 5 average rating, 88 reviews

The Riverview Retreat, unique spacious upper.

Rental unit in Watertown

4.94 out of 5 average rating, 16 reviews

The Albert Inn - Located near Riverside Park

Rental unit in Oconomowoc

5 out of 5 average rating, 70 reviews

Stylish Upper near Downtown+Holiday Festivities

Rental unit in Shorewood

4.9 out of 5 average rating, 81 reviews

Charming home w/ fire pit, walk to Lake Michigan

Rental unit in Milwaukee

4.65 out of 5 average rating, 23 reviews

Beautiful McKinley Beach Sunrise Studio

Rental unit in Milwaukee

4.68 out of 5 average rating, 41 reviews

Stylish Studio McKinley Beach | Brady St Lowr East

Rental unit in Beaver Dam

4.93 out of 5 average rating, 14 reviews

Unique Lake property awaits you!

Waterfront house rentals

Home in Pewaukee

4.97 out of 5 average rating, 69 reviews

Blue Chair Retreat -New Lakefront Home

Home in Nashotah

4.97 out of 5 average rating, 68 reviews

Okauchee Lakefront Cabin Escape

Home in Pewaukee

4.92 out of 5 average rating, 24 reviews

Pewaukee Lake Home: Sunsets, Dogs & Good Vibes

Home in Mukwonago

4.96 out of 5 average rating, 48 reviews

Relaxing Lake House Getaway on Phantom Lake

Home in Nashotah

4.94 out of 5 average rating, 67 reviews

Beautiful home on Okauchee Lake, WI

Home in Oconomowoc

4.95 out of 5 average rating, 19 reviews

The Paddle House

Home in Oconomowoc

5 out of 5 average rating, 14 reviews

Beautiful lake views.

Home in Mukwonago

5 out of 5 average rating, 24 reviews

The Lake House on Shady Lane

Waterfront condo rentals

Condo in Delafield

4.94 out of 5 average rating, 51 reviews

DElafield Rivers Gateway Luxurious Condo

Condo in Lake Geneva

4.58 out of 5 average rating, 24 reviews

Best location Luxury Suite on Lake Geneva walk D.T

Condo in Geneva

4.93 out of 5 average rating, 40 reviews

Quaint, quiet condo minutes from Lake Geneva

Condo in Lake Geneva

4.96 out of 5 average rating, 23 reviews

Elegant 4-Season Lake Geneva Condo w/ Fireplace!

Condo in Milwaukee

5 out of 5 average rating, 40 reviews

2BR • King Beds • Near Downtown • Free Parking

Condo in Lake Geneva

4.95 out of 5 average rating, 128 reviews

LakeView-SummerPool-FamilyFriendly-CloseToTown

Condo in Grafton

4.97 out of 5 average rating, 39 reviews

Eco-Conscious Luxury Condo | The Quarters Suite 5

Destinations to explore