Milwaukee airport area has more hotels and better access in general from the whole metro area.Hotels are a better value there as well.
Madison, the airport is a little out of the way, I would go either East Town (High Crossing) area, or down along the Beltline south of town. High Crossing has nicer hotels, Belt Line cheaper. Downtown Milwaukee and Madison are both crowded with parking issues - between the two I would take downtown Milwaukee as the hotels are nicer
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