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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Guest favorite

An aerial view captures the home's prime location on the lakeside, highlighting the expansive waters of Upper and Lower Phantom Lake. Surrounding greenery along with residential properties and boat docks can be seen, emphasizing the serene environment and proximity to outdoor activities.

Home in Mukwonago

4.96 out of 5 average rating, 49 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, 70 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

An aerial view captures the shoreline of Pewaukee Lake, with several docks and boats visible. The scene includes neighboring properties, green lawns, and a glimpse of the peaceful lake, framed by trees in the background.

Home in Pewaukee

5 out of 5 average rating, 51 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

4.94 out of 5 average rating, 52 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.

Top guest favorite

The exterior of a charming house is framed by lush greenery and blooming flowers. A welcoming pathway leads to a set of steps that rise to a spacious porch, featuring a balcony above. Sunlight filters through the surrounding trees, creating a serene atmosphere.

Home in Menomonee Falls

4.95 out of 5 average rating, 128 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

A spacious living area is shown with a sectional sofa and a wooden coffee table. Large sliding glass doors open to a deck with outdoor dining furniture, providing views of Phantom Lake. Natural light fills the room, enhancing the wood-beamed ceiling and cozy decor.

Cottage in Mukwonago

5 out of 5 average rating, 31 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.

Guest favorite

A quaint cabin is positioned near the water, featuring large windows that provide ample natural light. A spacious deck extends from the home, surrounded by green grass and trees. A small shed is visible beside the porch, with a wooden dock extending into the lake for easy access.

Home in Mukwonago

4.97 out of 5 average rating, 34 reviews

Lake House w/ Amazing Views includes 6 Kayaks

Welcome to Eagle Spring Lake, a hidden gem. This home is the closest one to the water with unobstructed views. Offers great boating, kayaking and ice fishing. Just across the street is 1300- plus acres of Kettle Moraine State Forest/Lulu Lake Preserve offering miles of hiking, skiing, snowmobiling and hunting. Has up north feel, yet close to Alpine Valley, restaurants, wineries and specialty breweries. 6 Kayaks included. There are 76 steps to the cabin, but it is worth the climb.

Vacation home in Oconomowoc

4.87 out of 5 average rating, 108 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

Home in Oconomowoc

4.83 out of 5 average rating, 12 reviews

Hidden Gem - Sunset Lake Home w/ Hot Tub

Escape to our exclusive lakeside retreat, nestled on 2 acres of waterfront paradise! Enjoy breathtaking views from 2 living areas, a screen porch, patio with outdoor seating, or private pier. With ample space, king-sized bed in the primary bedroom, large kitchen, & game room, it's perfect for a large family gathering. Indulge in outdoor adventures or relax by the fire pit. With water toys, cozy beds, and nearby activities & great food. Book now for the ultimate family getaway!

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

4.92 out of 5 average rating, 13 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

5 out of 5 average rating, 76 reviews

Historic, Charming Upper|Walk to Eats, Shops&Lakes

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.

Guest favorite

A spacious living area features warm wood paneling, with large windows framing views of the water. A dining table with yellow chairs accommodates several guests. Comfortable seating options, including a plaid armchair and a sofa, invite relaxation. Soft lighting adds a cozy ambiance to the space.

Home in Pewaukee

4.92 out of 5 average rating, 25 reviews

Pewaukee Lake | Sunsets, Dogs, Beach, Good Vibes

Lake Life is the Best Life! Welcome to *PEACE-Waukee* on Pewaukee Lake! This waterfront 3 bed/ 1 bath lake home comfortably sleeps 6 (7 with children), is dog friendly, and features stunning sunset views over the water. Excellent location off the highway and walking distance to downtown Pewaukee beach, restaurants, and shops. The large patio, pier, firepit, books, games, and home amenities will provide a relaxing Lake-Cation all year round!

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What guests are saying

Waterfront on Pewaukee Lake |3BR/2BA|Private Pier

5 out of 5 average rating, 6 reviews1 month ago

This cottage on Lake Pewaukee was a perfect place for our visit. We wanted to spend a few nights close enough to my mom's house that she could visit and spend some time with us on a trip back home after moving away from Wisconsin, and this place was wonderful! The deck was lovely, even in colder weather, and the kitchen had everything we needed to prepare a taco dinner and enjoy a night of games and quality time. I loved that there are two king beds and two full bathrooms. Pet friendly also for our two small dogs! Ample parking was great since we had a truck and a trailer. Kristen was responsive, kind, and professional- we will definitely rent here again and may make it a regular stop!

Home in Pewaukee

What guests are saying

Relax at the Lake

4.92 out of 5 average rating, 24 reviews57 months ago

Great little spot. There's a lot of vegetation in the lake so some of our party was reluctant to go swimming, but the private beach was perfect and we really appreciated use of the kayak. We had a great time staying here, and it was particularly nice to feel like we weren't in town but be able to walk a couple of minutes to town to get ice cream.

Private room in Oconomowoc

What guests are saying

Luxury Lake Home & Pier-124' of Swimming Frontage

5 out of 5 average rating, 34 reviews2 months ago

Magical home. You and your Ohana will enjoy every second here. This home is so comfortable, well stocked and has an impeccable feel throughout! It is as it says it is! We enjoyed our stay. We hope to book in the summer time to enjoy the lake and home more. This has the most perfect location and the home amenities are above and beyond, gracious!

Home in Oconomowoc

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