Whether you're a diehard biker or someone who just happens to be in the area, many visitors say the Harley-Davidson Museum is worth exploring. Spread across 20 acres of prime Milwaukee riverfront property, the Harley-Davidson Museum continuously wows travelers with its 12 permanent exhibits and rotating special exhibits, including a recovered motorcycle from a tsunami that devastated Japan in 2011. Some permanent exhibits include a design lab, an engine room and an extensive motorcycle gallery that showcases the evolution of the company's bikes.

For those interested in the nitty-gritty of Harley bikes and history, consider paying $4 per person for an audio headset. Prior visitors said the in-depth narration provided a superb detailed description of everything in the museum. (But if you don't feel like paying extra for a headset, the written explanations provided at each exhibit provide a wealth of excellent context, so you'll still learn plenty, according to previous travelers.)

And once you're done browsing the displays, peruse the Harley-Davidson gift shop or grab a bite at the on-site MOTOR Bar & Restaurant (which can be entered without paying the museum entrance fee).

To enter the Harley-Davidson Museum, expect to pay $20 per adult and $10 per child between 5 and 17 years old. Although admission costs are a bit high for the area, some deals can be scored. For example, children younger than 5 can visit the museum for free, and military personnel and high school and college students receive a discounted rate ($14) when they show their ID. From May through September, the property is open from 9 a.m. to 6 p.m.; the museum opens at 10 a.m. in the winter. For some late night fun (in either season), visit on a Thursday when the museum remains open until 8 p.m. For more information about seasonal hours and events, visit the museum's website.