The Milwaukee Art Museum is worth seeing, mainly for the architecture of the building itself. Located along Lake Michigan, on the edge of downtown, I believe.
Cheaper parking can be found across the street of the museum. And when you go to the roof of that garage, you can get a good look of the building. It is connected by a bridge, which you can cross to get to the museum.
And you can go inside and look at the place, without having to pay. If that is the only thing you want to do, you are restricted in the lobby area.
As for the actual museum itself, the collection is worth checking out. There are ancient artifacts from Egypt and Greece, along with European paintings, American furniture, Asian art, and some modern art. It is enough to keep one entertained. Also of note, is works of art from Haiti. That may be worth checking out.
While the museum itself is not a must-see, considering the price of admission, it is a nice option for a rainy or very hot day, as well as killing some time. But seeing the actual building itself, that alone, is worth the detour to see for yourself.
This review is the subjective opinion of a TravelPod member and not of TravelPod.com.