In 1855, a lighthouse was built on North Point to mark the northern end of Milwaukee Harbor. This site was chosen because of its location on the bluff above Lake Michigan, increasing the distance at which the light was visible. However, the brick structure was built too close to the edge of the bluff, and soon erosion threatened the lighthouse.

In 1888, a new lighthouse was built about 100 feet further inland and the original lighthouse was demolished. The new lighthouse tower was a cast iron, 39 foot tall octagonal structure. By the early 20th century, trees from nearby Lake Park had grown too tall and obscured the light from vessels on Lake Michigan. To remedy the situation, a new steel superstructure was added, with the old lighthouse placed on top of the steel addition. Completed in April 1913 at a cost of $9,455, the new structure raised the lighthouse to a height of 74 feet.

Located adjacent to the light is the former light keeper's quarters. The Queen Anne style, two and one half story house was completed in 1887. A covered walkway connected the house to the lighthouse, allowing the light keeper direct access without venturing outside.

The North Point Lighthouse remained in operation until 1994. After sitting empty for a decade, the lighthouse and keeper’s quarters were restored and are now a museum and exhibition space open to the public.