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Milwaukee grew from three rival settlements, Juneautown, Kilbourntown and Walker's Point, founded by Solomon Juneau, Byron Kilbourn and George H. Walker, and was incorporated on January 31, 1846; it is Wisconsin's largest city and the county seat of Milwaukee County, standing on the western shore of Lake Michigan.

Milwaukee's population was 577,222 in the 2020 Census and an estimated 562,407 by 2025, down from its historic peak of 741,324 in 1960; it has about 232,520 households averaging 2.37 persons each, a median home value of about $184,000 and a 41.8% owner-occupancy rate.

Milwaukee's nicknames include 'Cream City', for its cream-colored brick, 'Brew City', for its brewing heritage, and 'City of Festivals'.

Summerfest, held at Henry Maier Festival Park since 1968, was listed in the Guinness Book of World Records as the world's largest music festival, drawing 831,769 attendees in 2017, and the city also hosts German Fest, the largest German festival in North America.

The Milwaukee County Parks system covers more than 150 parks and 15,000 acres, including the Mitchell Park Horticultural Conservatory, 'The Domes', with its three beehive-shaped glass domes, and Bradford Beach on Lake Michigan, while the Milwaukee Riverwalk runs nearly three miles through downtown.

Milwaukee's universities include Marquette University (founded 1881), the University of Wisconsin-Milwaukee, the second-largest university in Wisconsin, Milwaukee School of Engineering (1903) and the Medical College of Wisconsin (1893).

Harley-Davidson is headquartered in Milwaukee, and the Harley-Davidson Museum in the city tells the company's story.