If you want a nice view without much work or you just need to get out of town Gibraltar Rock is a great trail, just 30 minutes north of Madison. It’s also part of the Ice Age Trail!
The trail through the natural area is about 2 miles total with the main attraction, the view from the top of the rock, being roughly in the middle. We started from the northern end of the trail and did an out and back to the car. This side is steeper and often icy in the winter since the trail is all on the north slope to the rock.
A mostly clear day yielded some nice views and we had the trail to ourselves.