According to Prevention Magazine's annual survey with the American Podiatric Medical Association and Sperling's Best Places, Milwaukee ranks number 15 of the 25 best walking cities in the U.S. The survey points to the downtown RiverWalk as the reason Milwaukee did so well on the list.
To see how your own neighborhood ranks in terms of walkability check out the Walk Score Website. Type in your address to calculate your neighborhood's walking score and to view a list of places within walking distance.