Is it cheaper to live in Aurora or Milwaukee?

Milwaukee, WI is cheaper. Its monthly baseline of $1,040 (1BR rent + utilities) runs about 27% below Aurora, IL's $1,420, mainly because of rent.

How much more do you need to earn to live in Aurora than in Milwaukee?

To keep rent near the recommended 30% of gross income, you'd want to earn roughly $47,000 a year in Aurora versus $34,000 in Milwaukee.

Which has lower taxes, Aurora or Milwaukee?

Aurora is taxed under Illinois's rules (a top state income tax rate of 4.95% and a 6.25% state sales tax); Milwaukee under Wisconsin's (a top state income tax rate of 7.65% and a 5% state sales tax).

Aurora vs Milwaukee Cost of Living 2026

Aurora

Illinois

$1,420/mo est.

Milwaukee

Wisconsin

$1,040/mo est.

Monthly estimate = 1BR rent + electricity + gas

A one-person monthly baseline (1BR rent plus typical utilities) runs $1,420 in Aurora, IL versus $1,040 in Milwaukee, WI. Overall, Milwaukee, WI is roughly 27% cheaper to live in day-to-day than Aurora, IL, driven mainly by rent.

Median household income is $90,109 in Aurora, IL and $51,888 in Milwaukee, WI — about 42% higher in Aurora, IL. Illinois has a top state income tax rate of 4.95% and a 6.25% state sales tax; Wisconsin has a top state income tax rate of 7.65% and a 5% state sales tax.

Aurora, IL

Milwaukee, WI

Rent

Studio

$893

$841

+6% in Aurora, IL

1 Bedroom

$1,183

$849

+28% in Aurora, IL

2 Bedroom

$1,550

$1,031

+33% in Aurora, IL

3 Bedroom

$1,797

$1,193

+34% in Aurora, IL

Buying a Home

Median Home Value

$260,400

$172,000

+34% in Aurora, IL

Income

Median Household Income

$90,109

$51,888

+42% in Aurora, IL

Metro Median Wage (annual)

$54,720

$51,160

+7% in Aurora, IL

People & Lifestyle

Median Age

35.2 yr

32.2 yr

+3.0 yr in Aurora, IL

Homeownership

66.8%

41.5%

+25.3 pp in Aurora, IL

Bachelor's+ (25+)

37.2%

26.6%

+10.6 pp in Aurora, IL

Avg Commute

28.0 min

22.4 min

+5.6 min in Aurora, IL

Crime (per 100k/yr)

Violent Crime

269.4

1,452.3

+439% in Milwaukee, WI

Property Crime

1,247.4

2,772.2

+122% in Milwaukee, WI

FBI Crime Data Explorer. Offenses per 100,000 residents per year; agency reporting practices vary, so this is approximate.

Climate

Avg Annual Temperature

49.9°F

47.9°F

+2.0°F in Aurora, IL

Annual Precipitation

36.9 in

34.8 in

+2.1 in in Aurora, IL

Gas

Regular Gasoline

$3.94/gal

about equal

Area: Midwest (PADD 2) vs Midwest (PADD 2).

Public Transit

Base Fare (one-way)

—

$2.25

Adult base one-way fare — — vs MCTS (2026).

Utilities

Electricity (¢/kWh)

23.9

19.7

+17% in Aurora, IL

Natural Gas ($/MCF)

$15.39

$11.79

+23% in Aurora, IL

Residential, state-level averages (EIA). MCF = 1,000 cubic feet.

Groceries

Milk (gal)

$4.31

about equal

Bread (lb)

$1.66

about equal

Eggs (doz)

$3.63

about equal

Ground Beef (lb)

$6.77

about equal

Chicken (lb)

$2.10

about equal

Bananas (lb)

$0.62

about equal

Average prices — Midwest vs Midwest (BLS). Regional where available, otherwise U.S. average.

State Taxes

Sales Tax (IL / WI)

6.25%

+1.3 pp in IL

Income Tax (top rate)

4.95%

7.65%

+2.7 pp in WI

Aurora vs Milwaukee — FAQ

Is it cheaper to live in Aurora or Milwaukee?: Milwaukee, WI is cheaper. Its monthly baseline of $1,040 (1BR rent + utilities) runs about 27% below Aurora, IL's $1,420, mainly because of rent.
How much more do you need to earn to live in Aurora than in Milwaukee?: To keep rent near the recommended 30% of gross income, you'd want to earn roughly $47,000 a year in Aurora versus $34,000 in Milwaukee.
Which has lower taxes, Aurora or Milwaukee?: Aurora is taxed under Illinois's rules (a top state income tax rate of 4.95% and a 6.25% state sales tax); Milwaukee under Wisconsin's (a top state income tax rate of 7.65% and a 5% state sales tax).

Sources: US Census Bureau, ACS 5-Year (rent, income, home value, demographics); NOAA Climate Normals 1981–2010 (climate); EIA weekly retail (gas); Tax Foundation 2026 (state taxes).