UPDATE: The teen has been located and is fine, according to the Ozaukee County Sheriff's Office.
He was found near Highway T in Grafton when his canoe was spotted by a Department of Natural Resources search plane.
Grafton Fire Chief Bill Rice said the teen left for an excursion on the river Wednesday afternoon. When the water got too rough, he said the teen rowed to the side of the river because he didn't know where he was.
The teen set up a tent and made a small fire to keep warm overnight, Rice said.
He was transported to a local hospital for precautionary measures.
GRAFTON -- A 17-year-old Cedarburg resident is missing after taking a solo canoeing trip on the Milwaukee River.
He was last seen by his mother around 8 p.m. Wednesday.
A search is being conducted by a Wisconsin Department of Natural Resources search plane and the Grafton Fire Department.
TODAY'S TMJ4 will update this story as information becomes available.