Note: As defined by the US Census Bureau, a city's official boundaries often extend miles beyond the city itself and may even cross county lines. As such, several thousand US cities officially exist in two or more counties (and therefore appear on multiple counties' lists of cities.)
City | Rank | 2024 Pop. | 2020 Pop. | Change | Density (/mi²) | Area (mi²) | Type |
|---|---|---|---|---|---|---|---|
| Milwaukee | 1 | 556,111 | 577,207 | -0.94% | 5,782 | 96.2 | City |
| Racine | 2 | 76,238 | 77,692 | -0.47% | 4,927 | 15.5 | City |
| West Allis | 3 | 58,413 | 60,257 | -0.78% | 5,133 | 11.4 | City |
| Wauwatosa | 4 | 46,607 | 48,329 | -0.92% | 3,524 | 13.2 | City |
| Oak Creek | 5 | 37,374 | 36,500 | 0.59% | 1,314 | 28.4 | City |
| Greenfield | 6 | 36,638 | 37,749 | -0.75% | 3,177 | 11.5 | City |
| Franklin | 7 | 35,265 | 36,144 | -0.62% | 1,020 | 34.6 | City |
| Mount Pleasant | 8 | 27,731 | 27,714 | 0.01% | 818 | 33.9 | Village |
| South Milwaukee | 9 | 20,023 | 20,775 | -0.93% | 4,149 | 4.8 | City |
| Cudahy | 10 | 17,548 | 18,180 | -0.89% | 3,676 | 4.8 | City |
| Whitefish Bay | 11 | 14,426 | 14,934 | -0.87% | 6,821 | 2.1 | Village |
| Greendale | 12 | 14,350 | 14,836 | -0.84% | 2,579 | 5.6 | Village |
| Shorewood | 13 | 13,526 | 13,834 | -0.57% | 8,507 | 1.6 | Village |
| Glendale | 14 | 12,777 | 13,343 | -1.1% | 2,217 | 5.8 | City |
| Brown Deer | 15 | 12,540 | 12,592 | -0.1% | 2,853 | 4.4 | Village |
| St. Francis | 16 | 9,450 | 9,157 | 0.78% | 3,694 | 2.6 | City |
| Hales Corners | 17 | 7,458 | 7,714 | -0.85% | 2,336 | 3.2 | Village |
| Fox Point | 18 | 6,504 | 6,920 | -1.57% | 2,274 | 2.9 | Village |
| Bayside | 19 | 4,334 | 4,474 | -0.8% | 1,816 | 2.4 | Village |
| West Milwaukee | 20 | 3,959 | 4,109 | -0.95% | 3,538 | 1.1 | Village |
| Yorkville | 21 | 3,244 | 3,243 | 0% | 97 | 33.5 | Village |
| River Hills | 22 | 1,551 | 1,598 | -0.77% | 301 | 5.2 | Village |
Note: City markers shown outside the county boundary mean that a part of the city extends into this county, but is primarily located in an adjacent county.
Milwaukee is the largest city in Milwaukee County.
River Hills is the smallest city in Milwaukee County.
There are 22 cities in Milwaukee County, Wisconsin.