City comparison
No. Aurora's crime index is 212 versus 266 in Milwaukee, and its violent crime index is 248 versus 375, using 2024-2025 FBI data.
Milwaukee is cheaper. Median rent is $1,059 a month versus $1,835 in Aurora.
The income gap between Milwaukee and Aurora is significant: $54,234 median household versus $88,368. That spread matters more if you are job hunting locally than if you are remote. Typical rent is $1,059 in Milwaukee and $1,835 in Aurora.
Aurora is not a close call here. It leads on the job market, safety, and weather by margins that add up in daily life. Milwaukee makes sense if you have a specific reason, a job offer, family, or a neighborhood you already know, but on the numbers alone Aurora is the stronger move.
The rent gap is real but neighborhoods matter. Milwaukee at $1,059 average has pockets that run $859 and others at $1,459: your actual number depends on which part of the city you land in.
The move
Milwaukee and Aurora are 905 miles apart in a straight line.
Median rent goes from $1,059 a month in Milwaukee to $1,835 a month in Aurora, up $776 a month (73%).
Median household income goes from $54,234 in Milwaukee to $88,368 in Aurora, up $34,134 (63%).
The crime index goes from 266 in Milwaukee to 212 in Aurora, down 54 points (20%).
The move
Aurora and Milwaukee are 905 miles apart in a straight line.
Median rent goes from $1,835 a month in Aurora to $1,059 a month in Milwaukee, down $776 a month (42%).
Median household income goes from $88,368 in Aurora to $54,234 in Milwaukee, down $34,134 (39%).
The crime index goes from 212 in Aurora to 266 in Milwaukee, up 54 points (25%).
Milwaukee, WI
School quality varies by neighborhood. Check GreatSchools.org for current ratings.
Aurora, CO
School quality varies by neighborhood. Check GreatSchools.org for current ratings.
Comparing Milwaukee and Aurora? Check mortgage rates before you decide where to buy.
Rent
42% cheaper
Milwaukee rent is 42% cheaper than Aurora
Milwaukee
Winner$1,059/mo
Aurora
$1,835/mo
Typical rent runs $1,059 a month in Milwaukee versus $1,835 in Aurora, so Milwaukee is 42% cheaper. That's roughly $776/month back in your pocket ($9,312/year). Over five years that's $46,560 you could redirect toward a down payment, travel, or investments. Housing is the bill you pay before groceries, childcare, or a social life, so that gap shows up in how often you eat out and how panicked a rent hike feels. If you already have a high-paying offer in Aurora, the extra rent can be rational. If you do not, Milwaukee is the easier city to land in without blowing up your budget.
Planning to buy in Aurora? Check mortgage rates before you decide.
Median income
63% higher
Aurora's median income is 63% higher than Milwaukee
Milwaukee
$54,234
Aurora
Winner$88,368
Median household income is $88,368 in Aurora versus $54,234 in Milwaukee, so typical pay runs 63% higher in Aurora (about $34,134 more household income a year). Higher median income usually signals a stronger local job market and better negotiating leverage on salary. Remote workers should weigh this against cost of living rather than treating it as a direct personal benefit. For people who will actually work in town, Aurora is the stronger labor market on paper. Milwaukee can still win if housing is cheap enough to offset the weaker median or if your specific role already pays well there.
Crime index
20% lower crime
Aurora's crime index is 20% lower than Milwaukee
Milwaukee
266 (100 = avg)
Aurora
Winner212 (100 = avg)
Aurora's crime index is 212 versus 266 in Milwaukee (100 = national average), so citywide crime runs 20% lower in Aurora. That gap is meaningful day-to-day. It affects whether you feel comfortable walking at night, leaving your car on the street, or letting kids play outside unsupervised. Indexes still compress a lot of reality: a calmer city has blocks you would skip, and a higher-crime city has streets that feel neighborly at 10 p.m. On the everyday test of walking from the car to the door, Aurora is the easier city. Milwaukee can still work if you pick the right pocket. Just budget more diligence before you sign a lease.
Typical weather
24% more comfortable
Aurora weather is 24% more comfortable than Milwaukee
Milwaukee
55°F avg · 61°F highs · comfort 72/100
Aurora
Winner61°F avg · 71°F highs · comfort 89/100
Milwaukee averages about 55°F (61°F highs); Aurora averages about 61°F (71°F highs). Milwaukee averages around 55°F, so jackets, heating bills, and shorter outdoor seasons are part of daily life. Aurora averages around 61°F. Aurora scores 24% closer to the 65-80°F comfort band on this page, so it is the easier default for year-round outdoor errands and evenings. Choose Milwaukee if you already prefer its hotter or cooler pattern and have budgeted for the AC or heating that comes with it.
Fit check
People with a job, family, or neighborhood already pulling them to Milwaukee
Milwaukee is the clearer landing pad if housing cost is what keeps you up at night. Typical rent is 42% cheaper here at about $1,059 a month. Choose Milwaukee if you are stretching a salary, starting over, or want slack for travel and debt instead of a flashier skyline.
Fit check
Career-focused movers who want salary upside plus year-round outdoor access
It is also a match for career-focused movers who want salary upside and year-round outdoor access. Median household income runs 63% higher ($88,368), and typical weather is the more comfortable of the two (around 61°F). That pairing is for people who will work hard and then actually use the evenings.
Aurora is the better fit for families with young children and retirees who prioritize peace of mind over urban energy. The crime index is 20% lower than Milwaukee (212 vs a 100 national average). That gap shows up in how freely you walk at night and how much attention you spend on the car and the deadbolt.
Bottom line
On rent alone, Milwaukee undercuts Aurora by $776/month ($1,059 vs $1,835). I would not pick Aurora on housing cost without a job that clears that spread.
Milwaukee rent at $1,059/month is still below Aurora's $1,835, so cost-sensitive households should weigh the lease before the paycheck.
Safety scores read 30/100 in Milwaukee and 37/100 in Aurora.
Milwaukee is the default on housing cost at $1,059/month versus $1,835 in Aurora; Aurora stays in play when $88,368 local pay or an existing job offer outweighs the $776 lease gap.
Common questions
Ready to move to Aurora?
Next steps
Quotes and listings for Aurora when you're ready to act.
Keep researching
Nearby research
Open full neighborhood reports for Milwaukee and Aurora, plus other cities in WI and CO.
