Vacation rentals with lake access in Waukesha County

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Top-rated lake access rentals in Waukesha County

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

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Top guest favorite

A serene view of Pewaukee Lake is captured, featuring a large tree on the lawn and multiple docks lined along the water's edge. The sky is adorned with soft clouds reflecting colorful hues, complementing the peaceful lake setting.

Home in Pewaukee

5.0 out of 5 average rating, 67 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!

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Top guest favorite

A wooden dock extends toward a calm lake, featuring a covered boat and a sunbathing area with a chair. A yellow floating mat lies nearby, and the water reflects the surrounding greenery. Swimmers can be seen enjoying the gentle waves in the distance.

Home in Mukwonago

4.97 out of 5 average rating, 34 reviews

Lake House Retreat on Phantom Lake

A cozy secluded retreat like being "up North" without having to go up North. Quiet private road, and quiet lake. Great swimming and fishing off the dock in this sandy bottom lake with clean spring fed water, and large grassy area for lawn games and relaxing. Great for families, ladies retreats, golf groups, or concert goers. Only 5 mins to grocery stores. Lots of space in the house, and lots of space for spending time outside on the deck or the dock or lawn by the lake. Feel free to inquire!

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Top guest favorite

Guesthouse in Delafield

5.0 out of 5 average rating, 37 reviews

Private Guest Apt - .4 miles to Downtown Delafield

Welcome to your peaceful retreat in Delafield! This new-construction, 600 sq ft private apartment offers a perfect balance of comfort, privacy, and convenience. Although attached to our single-family home, the apartment is completely separate with its own private entrance, dedicated parking spot, & quiet setting just steps from the lake. Located within walking distance to downtown Delafield, you’re close to fantastic restaurants, boutique shops, coffee spots, and scenic walking & biking paths.

Outdoor spacesNearbyLayout

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

4.99 out of 5 average rating, 121 reviews

Charming Historic Upper | Walk to Downtown & Lakes

Stay in a piece of Oconomowoc history. Whether you're here for a lakeside wedding or a quiet retreat, The Blue Belle offers designer interiors and comfy beds our guests love all steps from downtown. This charming town offers the perfect blend of adventure and relaxation, with shops, restaurants, wedding venues & activities all within walking distance. Browse our host profile for additional listings if your preferred dates are unavailable, are traveling with a larger group or a furry friend.

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Guest favorite

Home in Pewaukee

4.9 out of 5 average rating, 31 reviews

Lakefront Views, Walk to Dining | Kayaks + Firepit

Wake up to sparkling water views, spend your days enjoying the amenities, and end the evening with dinner, drinks, and music—all just steps from your door. Welcome to Water’s Edge Cottage! Our lakefront home offers unbeatable views, lake amenities, and one of the best locations in Lake Country—perfect for guests who want to relax and enjoy everything the area has to offer. Whether you're here for summer lake days, fall sunsets, or a cozy winter reset, this is memorable lake living at its best.

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Guest favorite

A charming home is set among lush greenery, showcasing large windows that allow plenty of natural light. A stone wall supports a decorative patio area with several outdoor chairs and potted plants, creating a serene outdoor space. Tall trees frame the scene.

Home in Nashotah

4.92 out of 5 average rating, 119 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 fire-table on the patio for those quiet nights sitting out under the stars. Winter is spectacular here too. Nearby is the Nashotah Park, with a dog park and hiking trails. Lions park has an area for parties.

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Top guest favorite

A charming white cottage sits within a landscaped area, surrounded by a white picket fence. Lush greenery and flowering plants are visible in the foreground, while trees stand in the background under a clear blue sky.

Cottage in Hartland

4.95 out of 5 average rating, 168 reviews

Cozy cottage in the heart of Lake Country

Entire cottage in Lake Country nestled on two acres with mature trees. Included on the two acres- the host's farmhouse, carriage house and barn. A country setting with easy access to Hwys 16, 83 and I 94. Close to shopping, restaurants, parks, hiking, cross country skiing lakes, and beaches (10 min. to Delafield and Oconomowoc and 15 min. to Pewaukee.) Perfect for day trips to Madison (54 min.) and Milwaukee (30 min.). NOTE: exempt from accepting service and emotional support animals.

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Guest favorite

A serene outdoor seating area features two Adirondack chairs positioned on a paved patio, offering a clear view of Lake Nagawicka. Lush green grass surrounds the space, with trees and a peaceful shoreline framing the scene.

Home in Delafield

4.89 out of 5 average rating, 28 reviews

Lake Country Retreat| Shared Pier Access|Lake View

Just steps from the shores of Lake Nagawicka, this cozy home offers the perfect blend of relaxation and adventure. Enjoy a shared pier for kayaking, paddleboarding, or lakeside lounging. Minutes from downtown Delafield and endless activities. Rent from our preferred boat partner or bring your own, boat slip available for minimal cost. Ideal for couples or small families. Whether you’re looking to unwind, explore, or make lasting memories by the water, this inviting getaway has it all.

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Guest favorite

The exterior of the vacation home features a welcoming walkway leading to the entrance. A well-maintained lawn surrounds the house, and two white chairs are positioned on a small patio, offering a pleasant outdoor seating area. Lush greenery and landscaping enhance the setting.

Vacation home in Oconomowoc

4.87 out of 5 average rating, 172 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.

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Top guest favorite

Home in Hartland

5.0 out of 5 average rating, 44 reviews

2-acre retreat steps from Nagawicka Lake

Private Lake Country Retreat on 2 Acres | Pool, Park & Prime Location Relax at this private Lake Country retreat on 2 secluded acres surrounded by mature trees. Enjoy a private outdoor pool, spacious yard, and peaceful setting just steps from a county park with trails and a public beach. A nearby boat launch makes lake days easy, while shopping, restaurants, and coffee spots are only minutes away. Perfect for families, couples, or extended stays seeking privacy with convenience.

NearbyOutdoor spacesQuiet

Top guest favorite

The exterior of the cottage is showcased, with dark wood siding and a well-maintained garage door. Lush green trees surround the property, providing shade and a natural feel. A walkway leads to the entrance, enhancing the inviting atmosphere of the home.

Cottage in Mukwonago

4.97 out of 5 average rating, 67 reviews

Charming Phantom Lake Cottage

Come relax at our cottage located on Phantom Lake. 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, paddleboard, and paddle boat on site. Attached composite deck and crushed stone fire pit area are perfect spots to enjoy the outdoors.

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Guest favorite

A fire pit area is surrounded by several black Adirondack chairs, set on a grassy lawn dotted with yellow flowers. Tall trees and greenery provide a natural backdrop, while a bright blue sky with scattered clouds enhances the tranquil atmosphere.

Home in Delafield

5.0 out of 5 average rating, 39 reviews

Remodeled Home on Wooded Lake Nagawicka Channel

Relax with the whole family at this beautifully restored home on the channel of Lake Nagawicka! This 4-bedroom retreat comfortably accommodates 10 adults and 2 kids, offering the perfect setting for family gatherings, friend getaways, or peaceful lakeside retreats. Centrally located near downtown Delafield, but isolated in a tree lined yard. Enjoy the serenity associated with a northern Wisconsin vacation but with convenience of being located in Lake Country.

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