We LOVE Milwaukee and spend a weekend a month there year round. We have stayed lots of places, but for affordability, a great breakfast, and a good location we often choose the Hampton Inn on Wisconsin Ave. If you've ever stayed at a Hampton Inn, this property is pretty typical for the brand. Not opulent, but clean and modern. They have a small but nice pool, hot tub and work out room as well.
We LOVE the public market--an easy walk from the HI. There is a seriously cheap seafood place in there where we had a $14 whole lobster on our last visit.
Being a Groupon junkie, I find all sorts of great Milwaukee deals there on food and services. Check it out!