COVID-19 vaccination coverage was studied by race/ethnicity, up-to-date doses, and by how it was affected by social vulnerability and spatial accessibility at the census-tract level in Milwaukee County, WI, USA. Social vulnerability was quantified at the census-tract level by an aggregate index and its sub-components calculated using the principal components analysis method. The spatial accessibility was assessed by clinic-to-population ratio and travel impedance. Ordinary least squares (OLS) and spatial regression models were employed to examine how social vulnerability and spatial accessibility relate to the vaccination rates of different doses. We found great disparities in vaccination rates by race and between areas of low and high social vulnerability. Comparing to non-Hispanic Blacks, the vaccination rate of non-Hispanic Whites in the county is 23% higher (60% vs. 37%) in overall rate (one or more doses), and 20% higher (29% vs. 9%) in booster rate (three or more doses). We also found that the overall social-vulnerability index does not show a statistically significant relationship with the overall vaccination rate when it is defined as the rate of people who have received one or more doses of vaccines. However, after the vaccination rate is stratified by up-to-date doses, social vulnerability has positive effects on one-dose and two-dose rates, but negative effects on booster rate, and the effects of social vulnerability become increasingly stronger and turn to negative for multi-dose vaccination rates, indicating the increasing challenges of high social vulnerability areas to multi-dose vaccination. The large negative effects of socio-economic status on the booster rate suggests the importance of improving general socio-economic conditions to promote multi-dose vaccination rates.