Estabrook Falls is another easy access waterfall in Southeastern Wisconsin. Located in the Milwaukee suburb of Shorewood, you can find these falls by walking down a short stairway near the Estabrook Beer Garden.
The Milwaukee River is very wide here and there is no chance to get better views without swimming or a drone. Hard to photograph different angles but I did grab a short video. Enjoy.
Lat = 43.0994873 , Long = -87.9079666 -- Show at Google Maps