Green Bay and Door County are prime spots for canoe and kayak adventures thanks to their mix of calm bays, rugged shoreline, and scenic waterways. With more than 20 miles of Lake Michigan shoreline and protected bays, this region offers a variety of options for paddlers of all interests and skill levels. Whether you want a guided tour that reveals local historical sites, a relaxing paddle with family, or an adrenaline-pumping exploration of caves, you’ll find something to match your style. The area’s unique combination of natural beauty and cultural landmarks makes it an ideal place for paddling trips that are both scenic and meaningful.
One of the great things about paddling here is the diversity of tours—some focus on wildlife and wetlands, others on dramatic rock formations, shipwrecks, or lighthouse views. Plus, many tours feature knowledgeable guides who share insights about the area’s ecology and history. Booking early is advisable, especially in peak summer months, to secure your spot on these popular excursions.
Quick Overview
Our list includes guided kayak tours around Peninsula State Park in Ephraim, offering a blend of activity and scenic stops like Eagle Bluff Lighthouse. For those seeking luxury and comfort, the Sea Kayaking in Door County provides stable, high-end sea kayaks with personalized service. If caves are your fascination, the Cave Point Kayak Tour offers an accessible introduction to Wisconsin’s stunning coastal formations. For a mix of serenity and secret spots, the Death’s Door Bluff Kayak Tour combines wildlife, shipwrecks, and scenic views. Adventure seekers and families alike will find options, from Wetlands tours to sunset paddles. Now, let’s explore each experience in detail.
1. Peninsula State Park Kayak Tour
Starting in Ephraim, this small-group guided tour combines active paddling with a chance to see some of the most iconic scenery in Peninsula State Park. The tour lasts about 2 to 3 hours 20 minutes, giving you ample time to explore Eagle Harbor, paddle past Eagle Bluff—an impressive 180-foot cliff—and visit Horseshoe Island. The guide provides all the necessary kayaking gear, making it an ideal choice for travelers with some paddling experience.
What sets this tour apart is the combination of personalized attention and diverse stops. You might take a swim, enjoy a snack, or hop onto a quick trail hike to stretch your legs. The highlight is the visit to Eagle Bluff Lighthouse, restored to its former glory by the Door County Historical Society. Reviews praise the guide Nolan for being personable, patient, and full of interesting local facts—important if you’re not a seasoned kayaker. The water is generally calm in the southern bay, making this a good choice for outdoor lovers who appreciate a mixture of activity and scenic beauty.
Bottom Line: If you want a guided experience that balances paddling with sightseeing and local history, this tour offers excellent value at $75 per person.
2. Sea Kayaking in Door County, Wisconsin
For around $110, this tour offers luxury sea kayaks that are both stable and easy to paddle, unlike the sit-on-top models common elsewhere. The focus is on comfort and a more personalized experience, with small groups and all the equipment included. Justin Adventure Tours stands out for providing deluxe seats and a clean, modern fleet, which makes the trip particularly appealing for paddlers who want a relaxed, high-end experience.
The tour lasts about 2 hours and often explores scenic spots like Death’s Door, with guides sharing detailed knowledge about the area’s geology and history. Several reviews mention how comfortable the kayaks are and praise guides like Justin for their friendliness and expertise. One reviewer highlights the trip as “fantastic” and notes that the guides go out of their way to make it memorable, including pointing out shipwrecks and bird nests. This tour is perfect for individuals or families seeking a luxurious, leisurely paddle with an emphasis on education and comfort.
Bottom Line: With a focus on comfort and personal attention, this tour is well-suited for travelers wanting a more upscale paddling experience and valuable local insights.
3. Cave Point Kayak Tour
This popular tour explores Wisconsin’s famous Cave Point County Park and Whitefish Dunes State Park, two of the most stunning natural landscapes in Door County. Priced at $50 per person for about 2 hours, it’s an excellent choice for those wanting a manageable, scenic adventure that’s also accessible for beginners.
The tour includes a tandem kayak, life vests, and a paddle lesson, making it ideal for newcomers. The highlight is navigating around the thousand-year-old caves and carved rock formations along Lake Michigan. The tour is highly rated, with many reviews emphasizing the friendliness of guides like Jake and Zack, as well as the beautiful views and interesting geology. The small-group environment allows for a relaxed pace and plenty of opportunity for photos and wildlife spotting.
Bottom Line: For a budget-friendly, scenic kayak adventure that introduces you to Wisconsin’s rugged coastline, this tour offers great value and stunning sights.
4. Death’s Door Bluff Kayak Tour
This moderately priced ($85) tour provides a deeper dive into Door County’s scenic and historic secrets. Limited to 12 participants, it combines serenity with exploration of shipwrecks, Native American pictographs, and rock cairns at Door Bluff Headland’s County Park. The tour lasts about 1 hour 45 minutes, making it perfect for a half-day outing.
What makes it stand out is the focus on hidden spots like the Fleetwing schooner wreck and the panoramic views of Washington Island. Guides are praised for their knowledge and friendliness, and the inclusion of professional photographer options helps you capture the experience. Reviews note the guide’s enthusiasm and the overall “great day,” making it clear this is a well-organized, thoughtful trip that appeals to moderate fitness levels.
Bottom Line: If you’re interested in combining scenic views with a touch of history and wildlife, this tour strikes an excellent balance and offers good value.
5. Kayak & Hike Adventure Tour at Peninsula State Park
This multi-activity tour blends kayaking and hiking in one of Door County’s top parks. At 4 hours long and priced at $195, it’s best for travelers who want an active day out. The trip includes crossing to Horseshoe Island, visiting a historic lighthouse, paddling along sea caves, and then hiking with a Wisconsin Naturalist to explore the park’s natural features.
What makes this tour special is the combination of land and water activities—perfect for those who want more than just paddling. The inclusion of a picnic lunch and educational commentary adds depth to the experience. It’s best suited for those with a moderate fitness level who enjoy discovery. Reviewers mention how the guide helps make the experience engaging and educational. The price reflects the full-day nature and the variety of activities included.
Bottom Line: For a full-day adventure that combines kayaking, hiking, and learning, this tour offers outstanding value and variety.
6. Door County Wetlands Kayak Tour
A family-friendly, beginners’ tour priced at $75 for about 1 hour 45 minutes, this trip explores the wetlands of Door County. It’s ideal for those wanting a gentle paddle while viewing local birdlife such as egrets and bald eagles. The tour provides all safety instructions, kayaks, paddles, and guided commentary on the ecosystem, making it accessible for novices and children.
What stands out is the educational aspect and the chance to see a variety of bird species in a lush, second-growth wet-mesic forest. The focus on the wetland ecosystem makes it an educational and relaxing outing. Reviews note the helpfulness of guides and the suitability for beginners, including families with young children. This tour is perfect if you’re seeking a nature-focused, easy-paced paddle.
Bottom Line: For a calm, educational family outing that introduces you to local wildlife, this wetlands tour offers excellent value and a gentle experience.
7. Whitefish Dunes State Park & Cave Point Kayak Tour
Often considered the most affordable high-quality tour, at $57.99 for around 2 hours, this local company from Jacksonport delivers a reliable, knowledgeable experience. It combines two of Door County’s top sites—Whitefish Dunes State Park and Cave Point County Park—offering both lakefront exploration and rocky coastline views.
Participants learn about the local ecology while paddling past towering sand dunes and dramatic sandstone formations. The guides are praised for their professionalism and knowledge about local natural features. The tour is suitable for most experience levels, with a focus on safety and ecological education. Reviews mention fun guides like Sam and Gordon, and the trip’s affordability makes it accessible without sacrificing quality.
Bottom Line: For budget-conscious travelers who want a well-organized, scenic paddle with natural history insights, this tour is an excellent choice.
8. Door County Sunset Kayak Tour
Rounding out our list is the romantic and relaxing sunset kayak trip, priced at $67. The tour departs just before sunset, with a guide leading you to the best spots to enjoy the changing colors over Sturgeon Bay. The 1.5 to 2-hour paddle suits couples or anyone looking for a peaceful, scenic experience on the water.
While reviews are limited, the tour’s focus on sunset views makes it stand out. The guide’s local knowledge ensures you’re in the right place for prime photo opportunities. All equipment is provided, and the trip is suitable for paddlers comfortable with moderate physical activity. It’s a perfect choice for a memorable evening or a romantic outing.
Bottom Line: For a tranquil, picture-perfect moment on the water, this sunset tour is an ideal way to end a day exploring Door County.
How to Choose Your Perfect Canoe & Kayak Experience
When selecting a tour, consider your budget, time available, and interests. If you want a comprehensive day out with hiking and paddling, the Kayak & Hike Adventure Tour offers a full itinerary. For a more relaxed introduction, the Whitefish Dunes State Park & Cave Point provides affordable access to iconic scenery. Budget-conscious travelers should look at the Cave Point Kayak Tour for a scenic, beginner-friendly experience.
For travelers seeking luxury and comfort, the Sea Kayaking in Door County offers high-end kayaks with personalized service. Those interested in wildlife and wetlands will enjoy the Door County Wetlands for its gentle pace and educational content. Finally, for a romantic or peaceful evening, the Door County Sunset Kayak offers a memorable end to your day.
Booking early is especially important for popular tours, particularly in summer months. Check for availability and consider the physical demands of each trip to ensure a comfortable and enjoyable experience.
Final Thoughts
With options ranging from guided scenic paddles to multi-activity adventures, Green Bay and Door County provide plenty of ways to enjoy the water. Whether you’re interested in exploring caves, discovering shipwrecks, or simply soaking in sunset views, there’s a tour that matches your style. For families, beginner paddlers, or those seeking a more luxurious experience, these tours deliver memorable moments on the water.
If you’re planning a trip, consider your priorities—budget, time, interest in history or wildlife—and book early. These adventures are popular and fill up quickly during peak season. With a bit of planning, you’ll find yourself paddling past some of Wisconsin’s most stunning scenery in no time.