There are numerous very casual places to go. The Vanguard Bar and Milwaukee Brats are two favorites. If you get a brat with all the toppings, you won't be able to walk out of there with a clean shirt but that is what makes a great bratwurst. Order a Sausage Platter if you really want to be adventuresome. Great beer of all types.
My one warning is don't ask for margarine as a replacement for butter because margarine is banned in Wisconsin restaurants.
My one warning is don't ask for margarine as a replacement for butter because margarine is banned in Wisconsin restaurants.