It's depressing, isn't it? I used to have a 9mm Ruger and was able to shoot at an indoor range (plus skeet/trap) in Middleton near their airport 5-8 years ago but that entire place was flattened 4-5 years ago to make way for the new Lexus dealership's location.
MATC has a range on the east side that I've been able to shoot at when I was taking firearms training with the Capitol Police but I haven't been there for years...and not sure if it is ever open to the public.
So yeah, options are pretty limited.
I do know of some ex-coworkers who shoot in Lake Mills (not super close to Madison) - but I'm not sure if pistols are allowed or if it's just a rifle range (plus sporting clays for shotguns). Their site seems to be under construction and missing a lot of info that used to be there; I looked at it a few months ago and their rules and prices seemed ridiculous at the time.
Link
There is a free outdoor range in Richland Center that is open to the public year round - rifles and pistols allowed...it is not staffed. We brought stuffed animals there and shot those with pistols - cleaned up after ourselves of course. Later some guys were sighting in some monster rifles which was fun to watch.
Link
The only place I even know of to shoot a gun (period) at around here is in Waunakee at the Waunakee Gun Club
Link but that's just shotguns and archery...it suits me fine as I only have a shotgun right now.
Not sure if target practice is allowed on public hunting lands at all - never investigated this.
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ANYWAY, I haven't had a pistol for several years and sometimes get the itch to get one before remembering that there aren't even any places around here to shoot one, so that idea fades quickly. The best I can do is shoot sporting clays in Waunakee once in a while.
Of course, you could always go fire off some rounds on Allied Drive - nobody would bat an eye!