As you begin your journey, you’ll pass this cozy coffee roastery, where the scent of freshly brewed coffee drifts through the air. A local favorite, this family-run business has been perfecting its small-batch roasting process for years, offering some of the best coffee in the county.
Driving through Sturgeon Bay, you’ll spot this waterfront museum, which stands as a tribute to the area’s long history of shipbuilding and maritime adventure. Inside, exhibits tell the story of Great Lakes sailors, historic vessels, and the shipyards that have shaped the local economy for over a century.
As you follow the canal, keep an eye out for this striking red-and-white lighthouse standing tall above the shoreline. Built in 1899, it still serves as a navigational aid for ships passing through Sturgeon Bay, a key waterway for commerce and travel.
Driving past the entrance to this lakeside park, you’ll see a glimpse of its towering sand dunes, some of the highest in Wisconsin. Beneath these shifting sands lie remnants of ancient Native American villages, revealing that this landscape has been home to people for over a thousand years.
Along the scenic shoreline, you’ll pass by Cave Point, where Lake Michigan has carved dramatic limestone cliffs into the Niagara Escarpment. On windy days, waves crash into hidden sea caves, sending up impressive sprays of water—one of Door County’s most spectacular natural sights.
Rolling through this quiet lakeside town, you’ll notice its blend of historic charm and small-town hospitality. With deep Scandinavian roots, Jacksonport has long been a place where fishing, farming, and lakefront living come together.
Rolling into this charming lakeside village, you’ll notice its picturesque marina, inviting storefronts, and vibrant art scene. The town’s name comes from a legendary egg fight between sailors in the 1800s, a playful nod to its lively past.
As you pass this small, rustic building, you might spot the hand-carved wooden figures and Native American crafts displayed outside. Originally built by Chief Oshkosh himself, this shop and museum preserve the artistry and traditions of Wisconsin’s indigenous communities.
Just beyond the trees, this historic farmstead-turned-music school hosts summer concerts where student musicians play alongside seasoned professionals. Though you won’t hear the music as you drive by, this hidden gem has been filling Door County’s countryside with the sounds of jazz and classical music for decades.
Passing through Horseshoe Bay, you’ll see the historic barns and orchards of this century-old agricultural estate. Once a key player in Door County’s cherry industry, the farm remains a symbol of the region’s deep farming roots.
As you near the end of your tour, you’ll pass this peaceful waterfront park with a sandy beach and scenic pier. Each summer, it becomes the starting point of the Door County Triathlon, where athletes take on the challenging yet beautiful course along the bay.
You’ll pass by miles of cherry orchards, a reminder that Door County is one of the country’s top cherry-growing regions. Seaquist Orchards, a family-run operation for generations, processes millions of pounds of cherries each year, producing everything from jams to pie fillings.
In the heart of Egg Harbor, you’ll see this laid-back brewery, a favorite stop for craft beer lovers. Known for small-batch brews inspired by local flavors, it’s part of Door County’s growing craft beverage scene.
Your drive concludes with stunning views of Green Bay’s waters as you pass through Horseshoe Bay. Once an important agricultural area, this scenic stretch is now home to a mix of historic sites, recreation areas, and breathtaking lakefront scenery.
Vary good directions even down to where to be careful at certain intersections! We saw so much more of the local area than we could ever have on our own and great background information along the way.
This was our second self-guided tour so it went much smoother than the first because we understood how to do the app. The tour was fantastic and the the history was great. The narrator had a very easygoing conversational style.
We never could connect to start our tour. Instructions sent us to the incorrect Door county coffee place in Carlsville not Sturgeon bay
The actual audio tour was not available, however, I was able to print out the stops along the way, and we still enjoyed the route and stopped at several of the places that were suggested. The first stop at Door County coffee and tea was great and we bought some yummy cherry goodies at Seaquist Orchards.
This was the first time we ever booked an Audio tour and we loved it. Would do this again. Highly recommended!
We had a great time following Dave's route. We learned fun facts and tried a new resturant along the way. The drive was easy and very scenic.
This was very easy to do . The app is user friendly . David explained how to use this in detail . I downloaded the app on my phone. I parked in the Door County Tea and Coffee shop. I put in my code . We were up and ready to go ! We had a great day . The tour is as long as you make it . You can park and walk through the parks and museum or drive by them. He is very detailed and knows his history . Even our friends who live in Door County , learned new things . David tells you the roads to take , even the bumps in the road. It was so cool. Well worth the $20!
Thought this was such a great way to explore the area and from a local’s perspective. Loved it as my time was my own. Had a bit of trouble with leaning the app and how to work it when I when I went off course. I had a rental car and I couldn’t get it to sync to my google maps on the car’s navigation panel. But that could just be me. Loved hearing about the history with just enough detail. Missed the best cheese curds place though as the directions came a little too late for me to stop. Would highly recommend!!
This self-guided tour was well worth the price. It took you on roads and showed and told you things you wouldn't see or read about in guide books. We enjoyed it very much, would highly recommend!
Wonderful way to explore Door County. I purchased both the North and the South Penninsula tours, and although they are noted to be about 3 hours long each, I actually took 3 days to complete them both and loved them. The byroads and insider notes were fascinating and helpful, and the self guided tour leaves lots of opportunity to explore further (which I did considerably). David does a wonderful job of guiding you safely through the twisty bendy roads and pointing out interesting places. I also loved learning the history of the settlements, the shipyards, the lighthouses and the farming families of the area. It is unlikely that I would have found many of these places on my own, and following the tour made for a very enjoyable 3 days. Thanks!
The start of the program was sketchy didn't quite understand the beginning. But one it was running it was great.
I loved that it was on my time, not being rushed. I probably would never visit the spots on my own. Tour is educational and interesting, it can easy last 5 hrs if you get out at each stop. If you don’t want to be long you just keep driving. Tour is Very well guided.. The only hiccup I had there was detour due to power outage so the tour just stopped, but I followed the detour and gotten back on my tour. I’m not the best of tech person and I found it very easy to navigate. I recommend this tour.
It was a great area and very beautiful. We liked it was self guided so we could go at our own pace and get out and explore. The information provided was interesting.
We had a great day. The synchronization with our location was amazing. Very informative narration. We will use VoiceMap again.
Nice experience. Learned a lot about the area and its' history. There were a couple of areas on the route that did not have good reception , so we had to drive to an area to pick up reception, but it was easy to get back on the route. It was nice that we could travel at our leisure, and stop at some of the sites. Got back in the car and you can pick up where you left off.
Good info would’ve like more native history and state park history ………………………""…………….,,,,,,,…….l..lllllll.ll.lll. 100 characters is stupid
We aren’t usually tour people because we like finding our own adventures. But we wanted to do a day trip to Door county for our anniversary and in trying to figure out what we wanted to do I found this and decided to give it a try because it hit several of the potential spots. We were more than pleased with the tour as a whole. Great tidbits of interesting info without getting boring. Great directions along the way and laced with bits of humor. AND it allowed us to stop and explore as we wanted or go off route and pick back up. The tech worked great and amazed us. Would highly recommend and I might just look for more of these in the future!
My husband and I had a lot of fun on this tour. There were plenty of stops where we could get out, take pictures, and walk for a while if we wanted. The narrator, a teacher, was excellent. Although we've been to Door County before, we saw some new places. There were even some restaurant recommendations! The price was right and we were happy with the tour.
The tour was excellent. Pointed out highlights along the way. Advised of hard curves and even speed bumps and big dips in the road way. Gave time to stop and see points of interest along the way.
This was the first trip to Door County for my wife and I. Dave's audio tour was great. We both think that we now have a very complete understanding of the history and the attractions that are in the area. The app was easy-to-use and allowed us to drive along without any problems
I wasn’t sure what to expect from an audio tour, but this one blew me away. It synced perfectly with our location, and the commentary was engaging without being overwhelming. My teenagers even paid attention, which says a lot! Highly recommend for anyone who wants to explore and learn about Door County history at their own pace without missing the hidden gems.
This was our first trip to Door County, and I’m so glad we started with this tour. We learned so much more than we would have just driving around blindly. The audio cues worked flawlessly with GPS, and we stopped at several spots we might have otherwise missed—like the Whitefish Dunes and Horseshoe Bay Farms. Super informative and well-produced.
Monday through Friday 9 am to 7 pm EST
Reach us by phone
Reach us by email