Rental Car
Highly recommend signing up for National Car Rental's Emerald Club (for free) to make pick up and drop at the Airport much quicker and easier. More info can be found on their website.
Hotel
The closest option, 6 minutes from the venue! Brown Deer is pretty boring though.
Hotel
Great access to downtown Milwaukee. About a 20 minute drive to the venue.
Hotel
Spa hotel with lots of options. Eight minute drive to the venue.
Hotel
On Milwaukee's east side, great for if you want to explore the city and be by Lake Michigan. About 20 minutes to the venue.