Waukesha once had a number of railroads, including a Chicago & North Western Railway (C&NW) mainline, a Wisconsin Central Railway (WC) mainline and a Chicago, Milwaukee, St. Paul & Pacific Railroad (Milwaukee Road) secondary line. Today, the former WC is owned by Canadian National Railway, while Wisconsin & Southern Railroad operates portions of the former C&NW and Milwaukee Road lines. Union Pacific Railroad owns a small portion of the former C&NW on the east side of the city. The remainder of the railroad lines have been abandoned, and some have been reused for trails.

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