No, generally if the retirement income was taxed on your Federal return, then it will be taxed on your Wisconsin return. There are some exceptions to this, but they are only for very specific retirement systems. All of the retirement systems that qualify for the exception are affiliated with Wisconsin or the Federal government.
To read more and see the FAQ for Wisconsin retired persons, please click the following link:
WI retired
persons FAQ
The answer above assumes that you are filing as a resident of Wisconsin. If you are filing as a resident of Minnesota and a non-resident of Wisconsin, then the retirement income you described would not be taxable in Wisconsin since it is not from a Wisconsin source and you did not receive it as a Wisconsin resident.