Whether you’re a proud resident of “The Good Land”, or just visiting Milwaukee for the weekend, our city by the lake is truly a hidden gem in the United States.
This city is very family friendly, so it wasn’t hard to come up with 100 of the best places in the Milwaukee area for kids.
From unique museums and aquariums to professional sports games and cozy indoor play cafes, there are so many great things to do here with your whole family.
Here is comprehensive list of things to choose from for your adventures with kids in metro Milwaukee.
PLUS:
- Check our Events Calendar to see what’s happening today.
- Planning your weekend? View the top events on our popular Weekend Guide.
- Like checklists? We put together a Milwaukee Family Bucket List to help you narrow down your choices.
Museums & Educational
1. Betty Brinn Children’s Museum
929 E Wisconsin Ave, Milwaukee, WI 53202
This interactive children’s museum is the perfect solution for parents seeking a fun and educational experience for their young kids.
- Explore their permanent Home Town exhibit, a miniaturized version of a city.
- Climb the treehouse in “Pocket Park”.
- Stop by the Be-A-Maker Space for creative tinkering activities.
Plus, there’s a coffee shop inside!
2. Milwaukee Public Museum
800 W Wells St., Milwaukee, WI 53233
With exhibits that showcase everything from prehistoric creatures to ancient civilizations, the Milwaukee Public Museum will be a hit with all ages.
- Walk through the iconic Streets of Old Milwaukee and European Village
- Say hello to the butterflies in the Vivarium
- See a show at the Soref Planetarium
- Find the secret buttons!
3. Milwaukee Art Museum
700 Art Museum Dr., Milwaukee, WI 53202
The Milwaukee Art Museum is the crown jewel of the lakefront, and it’s home to many special works of art, an on-site studio for kids, and architectural wings that open and close.
- Create art in the Kohl’s Art Studio
- Listen to Storytime in the Galleries
- Stomp around the iconic Quadracci Pavilion
4. Discovery World
500 N Harbor Dr, Milwaukee, WI 53202
One of the most exciting and dynamic destinations for kids and families in Milwaukee is Discovery World, a science and technology museum located on the beautiful shores of Lake Michigan.
- Be a pilot on the Flight Simulator
- Travel to a different continent in th Virtual Reality experience
- Make it rain in the Great Lake Future exhibit
- Visit Wisconsin’s largest aquarium
5. Harley Davidson Museum
400 W. Canal St., Milwaukee, WI 53201
At the iconic Harley-Davidson Museum, your kids can learn the history of this iconic company, founded right here in Milwaukee.
- Hop on a brand new motorcycle in the Experience Gallery.
- Explore in the kid-friendly Imagination Station.
- See the oldest known Harley-Davidson motorcycle (known as “Serial Number One”).
- Make your own custom creation at the build-a-bike station.
6. North Point Lighthouse
2650 N Wahl Ave., Milwaukee, WI 53211
For a family adventure that combines history, nature, and beautiful view, the North Point Lighthouse and Museum in Milwaukee is a not-so-hidden visit gem nestled in picturesque Lake Park.
It offers an engaging peek into maritime history, complete with fascinating artifacts, tales of eccentric lighthouse keepers, and a chance to climb to the top for panoramic views of Lake Park, Lake Michigan, and downtown Milwaukee.
7. Pabst Mansion
2000 W. Wisconsin Ave., Milwaukee, WI 53233
Built in 1892 for Captain Frederick Pabst, this storied mansion was the heart of the city’s social life, filled with art, elegance, grand parties and personal moments of the beer baron’s family.
With their family-friendly tour, you can find animal friends in the art and architecture, peek inside a secret cabinet, and imagine yourself as young Elsbeth Pabst growing up in the Mansion.
8. Milwaukee Fire Museum (Free!)
1615 W. Oklahoma Ave., Milwaukee, WI 53215
The Milwaukee Fire Museum was built in 1927, and it’s the home of the first department ambulance, a 1947 Cadillac. It features a vintage hose tower, bunk room, locker room, kitchen, alarm area and fire officers office. You’ll also see two trucks built in the Milwaukee Fire Department Shop during the 1920’s and 30’s.
9. National Bobblehead Hall Of Fame & Museum
170 S. 1st St., 2nd Floor, Milwaukee, WI 53204
The National Bobblehead Museum is a quirky, one-of-a-kind museum houses the world’s largest collection of bobbleheads from all genres and periods. Plus, they offer scavenger hunts for all ages, a souvenir penny press, and more.
10. Mitchell Park Domes
524 S. Layton Blvd. Milwaukee, 53215
This living museum is the world’s only conoidal glass house, where it’s warm, sunny, and full of life all year round.
From towering cacti in the Desert Dome to lush tropical vibes in the Tropical Dome, there’s a slice of nature’s magic waiting for you, even when it’s frigidly cold outside.
11. Manfred Olson Planetarium
Tucked away inside the Physics building on the University of Wisconsin-Milwaukee campus is the Manfred Olson Planetarium, a hidden gem for kids and families around Milwaukee.
They offer live, interactive programming for kids and families to learn more about the night sky and the cosmos.
Bonus: Get In Free
Luckily, many local museums in Milwaukee offer free admission days , and some free Milwaukee museums don’t cost anything at all to visit.
12. Central Library
814 W. Wisconsin Ave. Milwaukee, WI 53233
Central Library is an architectural gem in downtown Milwaukee that is home to the Betty Brinn Children’s Room. Your kids will love the climbable lighthouse, nooks and crannies for reading, and impressive rotunda near the entrance.
13. Mitchell Street Library
906 W. Historic Mitchell St., Milwaukee, WI 53204
The recently renovated Mitchell Street Branch used to be home to a department store, and it’s the largest of Milwaukee Public Library’s branches. You’ll find a bright and expansive space with a high-tech maker-space, laptops for checkout, a children’s collection, puppets, audio books on c.d.’s, and a cozy reading area with a fireplace.
Discover more of the best Milwaukee libraries >>
Zoos & Aquariums
14. Milwaukee County Zoo
10001 W. Blue Mound Rd., Milwaukee, WI 53226
The Milwaukee County Zoo is home to over 200 wooded acres and more than 2,000 animals. You’ll come face to face with giant elephants, looming giraffes, roaring lions, bears resting in hammocks, swinging monkeys, a sweet red panda, Happy the Hippo, and more.
- Visit the Family Farm.
- Feed a giraffe.
- Go on a virtual reality Gorilla Trek.
- Ride the old-fashioned carousel.
- Take a charming ride on the Safari Train.
15. Reiman Aquarium at Discovery World
500 N Harbor Dr, Milwaukee, WI 53202
Milwaukee’s premier science museum, Discovery World, is home to the Reiman Aquarium, the largest aquarium in Wisconsin.
Visitors can walk through an immersive water tunnel, pet stingrays and sturgeon in the Touch Tank, plus meet turtles, a ball python, poison dart frogs, and more.
16. Petting Zoos
Petting zoos are a wonderful way to get up close and personal with a variety of adorable creatures, and lucky for us, there are plenty of great options to choose from in the area.
Playgrounds
17. Northwestern Mutual Community Park
Henry Maier Festival Park, Enter Through Mid-Gate
The brand new Northwestern Mutual Community Park officially opened at Henry Maier Festival Park in June, 2021. This entirely redeveloped entertainment space for families offers inclusive and accessible play for children ages 2 – 12 years of age, including those who may experience a variety of challenges.
Located adjacent to the Henry W. Maier Festival Grounds is access to Lakeshore state park trails, a small beach, and accessible paved trails that link to Milwaukee’s other lakefront parks and the Hank Aaron State Trail.
Read more about Northwestern Mutual Community Park >>
18. Harbor View Plaza
Great Lakes Research Facility, 600 E Greenfield Ave, Milwaukee, WI 53204
Hidden at the east end of Greenfield Avenue in Milwaukee, Harbor View Plaza is not just any park.
It’s Milwaukee’s first waterfront public park in the Harbor District, a refreshing oasis that offers a tall and bright play structure, water features, and a canoe and kayak launch.
19. MKE Rec Renovated Playgrounds
Milwaukee Recreation is on a mission to revitalize 52 Milwaukee play spaces in its “Dream, Build, Play” playfield renovation project. Find one near you!
20. Kayla’s Playground
Franklin Woods Nature Park, 3723 W. Puetz Rd., Franklin, WI
At Kayla’s Playground in Franklin, you’ll find one of metro Milwaukee’s original all-accessible playgrounds, complete with a ground-level merry-go-round that wheelchairs can fit on, special needs swings, two huge stainless steels slides, a climbing wall, and so much more.
21. Village Park in Menonomonee Falls
The 12,000+ square foot Village Park play area and splash pad is home to a multi-level playground and play hill, a wheelchair-friendly merry-go-round, sensory stations, and more.
22. Fox River Park
W264 S4500 River Rd., Waukesha, WI 53189
At the heart of Fox River Park in Waukesha is an award-winning feature that draws families from all around: a natural playground designed to reconnect kids with the great outdoors.
With two giant slides, each 33 feet long, built right into a hillside—this playground offers a thrilling ride and a creative blend of fun and nature.
More Must-Visit Playgrounds
We rounded up 25 of the best playgrounds in Metro Milwaukee, from Possibility Playground in Port Washingoton to Fort Cushing in Delafield.
Indoor Play
23. Little Village Play Cafe
Little Village Play Cafe is a local gem nestled in the heart of East Tosa. It’s a vibrant mash-up of a coffee shop, children’s play space, and a gift store, and it gets consistently rave reviews from visitors.
24. Little Sprouts Play Cafe
Shorewood & Mequon
Ideal for ages up to 6 years old, Milwaukee’s favorite play cafe offers indoor play and so much more. At Little Sprouts Play Cafe, young kids will enjoy safe, creative play, while parents can relax with a drink from their espresso bar, enjoy free wifi, and snack on some delicious food options.
25. Bug & Goose Play Cafe
Elm Grove & Delafield
Bug & Goose Play Café is a cozy indoor play space in Elm Grove & Delafield. It’s especially designed for kids from 6 months to 6 years old to learn through play. Plus, there’s coffee for the caregivers. It is also great spot to have a convenient and special birthday party or event.
26. Springs Water Park
Over 45,000 square feet of water park adventures await you at Springs Water Park just outside of Milwaukee. There are high-speed raft and body slides, a relaxing lazy river, an activity pool with water basketball and a lily pad rope walk, indoor and outdoor whirlpools, and an interactive arcade.
27. Adventure Rock
2220 N Commerce St, Milwaukee, WI 53212
With approximately 13,000 square feet of bouldering and roped climbing walls, Adventure Rock offers a first-class climbing experience for all ages.
The staff is friendly and helpful, and no prior experience is needed. There is no minimum age requirement at Adventure Rock, and most kids are ready to start around age 6.
28. Trampoline & Adventure Parks
From Urban Air in Waukesha to Sky Zone Greenfield, Metro Milwaukee is full of high-energy trampoline and adventure parks. There are also several indoor playgrounds your kids can enjoy no matter what the weather does.
Nature & Outdoor Fun
29. Boerner Botanical Gardens
9400 Boerner Dr., Hales Corners, WI 53130
Spring and Summer are great times to explore the Boerner Botanical Gardens. Your kids can scamper around the colorful rose, peony, annual, and perennial gardens, sniff their way through a fragrant herb garden, and marvel at the trickling streams and waterfalls.
30. Margie’s Garden
Margie’s Garden is a must-visit Children’s Garden located within Boerner Botanical Gardens, featuring an Alphabet Garden, a Numbers Garden, sound makers, playhouses, slides, a giant caterpillar and birds nest to play on, and more.
31. Lakeshore State Park
500 N. Harbor Dr., Milwaukee, WI 53202
Lakeshore State Park is an urban oasis located in the heart of downtown Milwaukee, adjacent to the Summerfest Grounds and Discovery World at Pier Wisconsin, right along the shores of Lake Michigan. You can hike on paved trail and stop by the Northwestern Mutual Community Park.
32. Lake Park
2975 N Lake Park Rd, Milwaukee, WI 53211
Truly beautiful in any season, the paved winding paths of historic Lake Park offers gorgeous lake vistas, rocky ravines and waterfalls, impressive statues, and the charming North Point Lighthouse. It’s home to an awesome playground, too!
33. Seven Bridges Trail
100 S. Hawthorne Ave., South Milwaukee, WI 53172
“Enter this wild wood and view the haunts of nature.”
This message, written on a sign atop a covered bridge, welcomes you to the Seven Bridges Trail in Grant Park. So it’s no wonder that there are rumors the trail is haunted. But if you head there during the day, there’s nothing spooky about it. The trail runs along a babbling creek, and leads all the way down to Lake Michigan, where you’ll find a beautiful beach.
To get there, enter Grant Park at South Lake Drive and Park Avenue, and travel about 1/8 mile. On your left you will find parking spaces with a path leading to the trail’s main entrance.
Wehr Nature Center
Yes, this waterfall is right here in Milwaukee County! You’ll find it at the Wehr Nature Center in Franklin, where there are family-friendly hiking trails, a nature center, a small natural playground, and beautiful Mallard Lake.
Schlitz Audubon Nature Center
1111 E. Brown Deer Rd., Bayside, WI 53217
schlitzaudubon.org
Mystery Lake is frog & turtle heaven at Schlitz Audubon Nature Center
The Schlitz Audubon Nature Center offers six miles of trails through 185 acres of habitats such as forests, wetlands, prairies, and Lake Michigan shoreline. Hike on the stroller and wheelchair friendly boardwalk through Mystery Lake.
Climb a 60-foot Observation Tower, take the paved trail down to Lake Michigan, and stop in the visitor center and see Emerson, a resident snapping turtle, and other animal ambassadors.
Urban Ecology Center (Free!)
The Urban Ecology Center is an innovative environmental education organization with three branches, all adjacent to Milwaukee County Parks.
Riverside Park (1500 E. Park Pl., Milwaukee, WI 53211)
This branch is normally open seven days a week, and you can spend a whole afternoon discovering all that the sun-soaked, plant-filled lodge has to offer, including games, instruments, puzzles, and blue slides with a secret door! Don’t miss the Native Wisconsin Animal Room, where you can greet turtles, snakes, fish, and frogs.
Here’s a Kid’s Guide to the Urban Ecology Center at Riverside Park >>
Insider tip: You can help feed the animals every weekend at 1:00 p.m. Check their website for the most updated times and locations.
Washington Park (1859 N. 40th St., Milwaukee, WI 53208)
The Washington Park branch has thriving gardens throughout the park and a Young Scientists club for kids who want to participate in hands-on nature activities. They also have a Native Wisconsin Animal room with a 560 gallon fish tank. You’ll get to see turtles, snakes, frogs, and fish. In the summer, you can canoe on the fresh water lagoon, and in the winter, it turns into an ice skating rink.
Menomonee Valley (3700 W. Pierce St., Milwaukee, WI 53215)
This branch is part of an exciting partnership that aims to revitalize the Menomonee Valley. They offer a young scientists club, nature playgroups, family hikes, nature crafts programs, and more throughout the year. Plus, you can help feed the animals every weekend for free.
Read more about the Urban Ecology Center >>
Retzer Nature Center
Even for the littlest feet, Retzer Nature Center is filled with majestic pines, picnic tables, and stroller-friendly paved paths.
The newly renovated Discovery Trail includes a variety of “Exploration Stations” for outdoor education, sensory-based play experiences, and STEM activities for families and school groups.
You can also explore “Vista Trail” where you’ll get a good view of Waukesha, and the “Nature Trail” where there are boardwalks and babbling brooks.⠀
Read more about Retzer Nature Center >>
Lapham Peak Observation Tower
If you’re looking for a family-friendly hiking destination in the Wisconsin State Parks system, Lapham Peak State Park in Delafield may be just the place for you.
We recommend starting at the Hausman Nature Center and picking up the Plantation Path trail from there.
The Plantation Path will lead you to the crown jewel of the park, 45-foot observation tower atop the highest point in Waukesha County (1,233 feet above sea level) to take in the beautiful views.
The Lapham Peak Observation Tower is especially spectacular in the fall!
If you want to skip the hike and go right to the observation tower, there is a convenient parking lot located very close-by.
Read more about Lapham Peak >>
Holy Hill
Holy Hill is a special place that you need to visit if you live in southeastern Wisconsin.
You can admire the beautiful architecture of the neo-Romanesque church built in 1926, enjoy the peaceful environment and expansive views, and even climb the scenic tower.
Once you get to the top, the view is absolutely incredible.
The paths leading through the forest and up to the church are especially magical in October, when all the leaves turn golden yellow.
See all 9 Best Views in Milwaukee >>
Lion’s Den Gorge Nature Preserve
511 High Bluff Dr, Grafton, WI 53024
This nature preserve in Grafton is home to one of the last remaining stretches of undeveloped bluff land along the Lake Michigan shoreline. The views are stunning!
The park is 73 acres with plenty of hiking trails, boardwalks through wetlands, picnic areas, and restrooms.
The trails are relatively stroller-friendly, but you’ll have to ditch the stroller to take the stairway down to walk along the Lake Michigan shoreline.
Caution! Be very careful on the trails because the cliffs and bluffs are very steep. It’s best to put babies and toddlers in a carrier.
Havenwoods State Forest
Havenwoods State Forest is the only state forest in the city of Milwaukee, located on the north side, and it’s absolutely beautiful.
It boasts 237 acres, hiking trails, colorful wildflowers, a pond, a nature center with animals, and more!
Here is a list of State Parks near Milwaukee >>
Lynden Sculpture Garden
2145 W Brown Deer Rd, Milwaukee, WI 53217
The 40-acre Lynden Sculpture Garden is a sprawling property that provides a whimsical yet peaceful experience of art in nature. The grounds of Lynden Sculpture Garden are currently open for walking at no charge.
Mitchell Park Domes
524 S. Layton Blvd. Milwaukee, 53215
This living museum is the world’s only conoidal glass house, where it’s warm, sunny, and full of life all year round.
From towering cacti in the Desert Dome to lush tropical vibes in the Tropical Dome, there’s a slice of nature’s magic waiting for you, even when it’s frigidly cold outside.
Grohmann Museum Rooftop Garden
Located on the Grohmann Museum on the Milwaukee School of Engineering (MSOE) campus, this rooftop garden features a dozen large, bronze statues of men at work, and you get an incredible view of downtown Milwaukee!
Alice’s Garden Urban Farm
2136 N. 21st St, Milwaukee, WI 53205
Alice’s Garden is a two-acre urban garden that is committed to wellness and community, and it sits on land that used to be a part of the Underground Railroad. They offer family events like yoga classes and movie nights, and you can drop by with your children and take a walk in the labyrinth.
Here’s a list of more State Parks near Milwaukee.
Sports
Milwaukee Bucks Game
Catch a professional basketball game when our World Champion Milwaukee Bucks take on visiting teams in the state-of-the-art Fiserv Forum. In this post, we share tips for where to sit with kids, Family Night fun, pre-game entertainment, and more.
Milwaukee Brewers Game
Cheer on the Milwaukee Brewers inside American Family Field (formerly Miller Park, and County Stadium before that). In this post, we share when your kids can run the bases, how to get player autographs, where the play areas are, and more!
Milwaukee Wave Game
If you’re looking for a professional soccer experience that’s fun and affordable, you may want to consider checking out a Milwaukee Wave indoor soccer game at the UWM Panther Arena. Find out what to expect and pro tips for your planning you visit.
Milwaukee Admirals Game
Milwaukee’s professional hockey team the Milwaukee Admirals also play at the UW-Milwaukee Panther Arena, offering family-friendly promos and activations throughout the night. High-five Roscoe, skate on the rink after the game, and visit the designated Kids Zone!
Lakeshore Chinooks Game
The Lakeshore Chinooks are a summer collegiate baseball team, and their games are packed with good old-fashioned family fun. They play all of their games at Kapco Park, located along the shores of Lake Michigan on the campus of Concordia University in Mequon.
Milwaukee Milkmen Game
The Milwaukee Milkmen are a pro baseball team in Franklin. You can park for free at Franklin Field and get affordable tickets online or in person. Hang out with their mascot, Bo Vine, and enjoy family entertainment including stunts, games, and promotions.
Art, Music, & Theater
Milwaukee Art Museum
700 Art Museum Dr., Milwaukee, WI 53202
The Milwaukee Art Museum is the crown jewel of the lakefront, and it’s home to many special works of art, an on-site studio for kids, and architectural wings that open and close.
Create something new in the Kohl’s Art Studio, listen to Storytime in the Galleries, stomp around the Quadracci Pavilion, and more!
Art & Pottery Studios
Up for a creative art project? Local Art & Pottery Studios like Cloud 9 Workshop in Wauwatosa (pictured above) and Glaze! in Thiensville offer colorful family-friendly experiences in art and pottery.
Live Theater
With a combined 2,100 annual performances attracting 2 million attendees each year, Milwaukee is home to a thriving arts scene that the whole family can enjoy.
In fact, the Milwaukee Theater District is home to 15,000 seater seats, the highest number per capita.
Marcus Performing Arts Center, Miller High Life Theatre, and six other venues are all located in a safe and convenient walkable cluster in the heart of downtown Milwaukee.
The historic Pabst Theater often hosts traveling kid-friendly shows like “Cocomelon Live!” and “BabyShark”, or you can catch a visiting Broadway production at the Marcus Center for the Performing Arts.
Plus, First Stage Children’s Theater puts on kid-friendly production year-round. They even offer sensory-friendly performances throughout the year, and pay-what-you-choose performances.
Subscribe to the Milwaukee With Kids E-newsletter to find out about ticket giveaways, events, and more.
Sculpture Milwaukee
Downtown Milwaukee, Wisconsin Ave. 
Sculpture Milwaukee brings world class art to Milwaukee every year along Wisconsin Avenue. You can find a particularly kid-friendly section in O’Donnell Park near the Art Museum and Betty Brinn Children’s Museum.
Check out our special feature on how to do Sculpture Milwaukee with kids.
Black Cat Alley
Black Cat Alley is an outdoor art gallery located in a private alley on the East Side. This unique street art destination was developed by a group of community members and artists back in 2015, and It now contains 21 murals by 24 artists from Milwaukee, Philadelphia, Los Angeles, Columbus and even Berlin.
Find out more about Black Cat Alley >>
Milwaukee Mural Tour
Milwaukee is home to some epic street art. Take a stroll around the city of to find some of these stunning Milwaukee murals.
From the new enormous Giannis mural on Wisconsin Avenue to the iconic Mural of Peace in Walkers Point, the streets are bursting with color and creativity.
Take the Milwaukee Mural Tour >>
Bradley Symphony Center
Families can catch a free Saturday Classic concert at the newly renovated Bradley Symphony Center, the official home of the Milwaukee Symphony Orchestra.
Avalon Atmospheric Theatre
Milwaukee is home to a number of historic movie theaters your kids will be wowed by, including the Avalon Atmospheric Theater in the funky Bay View neighborhood, complete with a starry night sky in the main theater.
Oriental Theatre
Perhaps the best known movie theater in Milwaukee is the Oriental Theatre on the east side of the city. Built in 1927, the theater’s design borrows from Indian, Moorish, Islamic, and Byzantine architectural styles.
Restaurants
Milwaukee Public Market
400 N. Water St., Milwaukee, WI 53202
You won’t have to worry about keeping your kids still and quiet at the bustling Milwaukee Public Market, though you will have to deal with some crowds.
The best part? There are lots different food options to please everyone’s pallet, and you can eat in the casual dining area upstairs.
You’ll find a local coffee shop, artisan cheese and sausage, fresh fish, soups and salads, a variety of ethnic food options, and an amazing bakery.
Don’t miss the vegan restaurant with a real vintage bus.
Third Street Market Hall
The Avenue MKE (275 W Wisconsin Ave., Milwaukee, WI 53203)
Website
Third Street Market Hall is new food hall in downtown Milwaukee that is equal parts good food and good fun.
You’ll find local eateries like Dairyland and Paper Plane Pizza, along with free games your family can play together like Shuffleboard, Giant Jenga, and more.
There’s also a Selfie Museum and a Top Golf Swing Suite.
You can park affordably in the adjoining garage.
Safe House
Location: Top Secret
(Okay, okay, it’s 779 N. Front St., Milwaukee, WI 53202)
safe-house.com
The Safe House, if you can find it and figure out how to pass the agent authorization process, is a unique experience for the whole family.
Your kids will love this spy-themed restaurant hidden downtown, where every turns presents interactive elements, spy technology, gadgets, and riddles.
You’ll learn about 50 years of spy history and see the world’s largest puzzle wall.
(Yes, cheese curds are on the menu.)
Don’t miss the new mural on the wall outside!
Lakefront Brewery
Make an early reservation for the Friday fish fry at Lakefront Brewery, a craft brewery located along the Milwaukee River.
Your kids will love the polka music, dancing, and delicious food.
Our readers highly recommend it!
Zócalo Food Park
Milwaukee’s first and only food truck park, Zócalo has something for everybody. The name Zócalo is Spanish for “plaza” or “town square.” It’s a gathering place where everyone belongs. The expansive patio is the perfect spot to snag a seat and enjoy some global cuisine.
Leon’s Frozen Custard
3131 S. 27th St. , Milwaukee, WI 53215
Website
Leon’s opened for business in 1942, and is still owned by the original family. Their custard is so iconic it has been featured on the Travel Channel.
See more of our favorite Milwaukee custard and ice cream spots >>
Organ Piper Pizza
This Milwaukee landmark, opened in 1976, boasts delicious thin crust pizza and the country’s finest organists to entertain you. (Did you know that one of the organ players here is also the organ player at Miller Park?) There is also an arcade and a small merry-go-round. This place is known for being boisterous and noisy, so your kids will likely fit right in!
Brunch
Uncle Wolfie’s is one of our favorite Milwaukee brunch spots, tucked away in Brewers Hill.
Known for its delicious food, friendly owners, and thoughtfully curated adjacent store, the details here make all the difference.
The coloring page is a separate menu for little ones inspired by the Owners’ memories of family dinners out.
Discover more Brunch Spots Around Milwaukee >>
Don’s Speakeasy
Sometimes the best places are hiding right under our noses.
Don’s TV & Repair is a secretive speakeasy on Milwaukee’s southeast side, operating under the guise of an outdated TV & Repair shop.
Their build-your-own milkshakes alone make it worth a visit, but the decor will take you back to your nineties roots in the best way.
Blum Coffee Garden
Blum Coffee Garden (4930 W Loomis Rd in Greenfield) is the perfect cafe to visit with your kids when you have some time to kill or want to give them a special treat.
The building itself makes a statement, with a century-old copper and stained-glass dome that greets you upon arrival. The dome was actually part of the former South Division High School (you’ll see other SDHS memorabilia inside).
Inside you’ll immediately feel cozy with warm brick throughout, vibrant green plants, local art, and a zen fountain as the centerpiece.
Outside you’ll find yard games ready for the playing, colorful perennials, landscaping models to ooh and aah at, trickling fountains, and plenty of space to run around.
Read more about Blum Coffee Garden >>
Tea at the Pfister
For a fancy afternoon out with your kids, head to the historic Pfister Hotel for their afternoon tea. The Afternoon Tea experience is held in Blu, the cocktail lounge on the 23rd floor.
You’ll be surrounded by panoramic views of Milwaukee and Lake Michigan, enjoying Rishi Tea, headquartered in Milwaukee.
They offer a children’s menu, and can also provide a high chair for little ones who do not require a tea tray.
Discover more Kid-friendly Restaurants Around Milwaukee >>
Sprecher Brewing Company
701 W. Glendale Ave., Milwaukee, WI 53209
sprecherbrewery.com
Of all the brewery tours you can do in Milwaukee, this one may be the most family-friendly.
Sprecher root beer and craft sodas may actually be more popular than the beer! Visit the brew house and discover how Sprecher’s brewing process revives Old World traditions that made Milwaukee famous.
See the production line, then sip on four beer samples and unlimited craft soda in the tasting room.
The tour is about 45 minutes long, and there are no stairs for little legs to climb. Tour spots are first come, first served, so we recommend reserving ahead of time.
Stone Creek Coffee Factory
422 N. 5th St., Milwaukee, WI 53203
stonecreekcoffee.com
Learn about the history of Stone Creek Coffee, see the farm-to-cup coffee journey up close, and get a behind-the-scenes look at their 1880’s factory. Learn more about coffee while you tour the green storage area, roasting facility, cupping lab, learning lab, and outside the bakery.
There will also be plenty of free coffee and some bakery treats to taste.
Tours take place every Sunday (excluding major holidays) at noon and 2 p.m., and you can sign up for them online.
Fiserv Forum
1111 Vel R. Phillips Ave., Milwaukee, Wisconsin 53203
fiservforum.com
If you’re looking for a fun family activity in Milwaukee, a tour of the Fiserv Forum is definitely worth considering.
This state-of-the-art arena is home to your World Champion Milwaukee Bucks basketball team and hosts a variety of other sports, entertainment, and cultural events throughout the year.
The Fiserv Forum is located in the heart of downtown Milwaukee, making it easily accessible by car or public transportation. There are several parking options nearby, including the 5th Street Parking Structure, and a number of restaurants in the neighboring Deer District.
The tour lasts about 90 minutes and takes you through various areas of the arena, including the locker rooms, the player tunnel, and the court itself.
You’ll also learn about the history and architecture of the building, as well as some of the behind-the-scenes aspects of running a major sports venue.
One of the highlights is the chance to see the impressive collection of art and memorabilia that is on display throughout the arena.
The artwork includes pieces from local and national artists, as well as some pieces that are specifically related to the Bucks and the history of basketball in Milwaukee.
The memorabilia collection includes jerseys, trophies, and other items that highlight the team’s successes over the years.
Whether you’re a die-hard basketball fan or just looking for a fun way to spend an afternoon in Milwaukee, this tour is sure to be a memorable experience for the whole family.
Want to save some money? The Fiserv Forum typically offers free tours during Doors Open Milwaukee.
American Family Field
1 Brewers Way, Milwaukee, WI 53214
The Milwaukee Brewers are an integral part of our city’s identity and play an important role in baseball’s history.
Did you know there is a plaque commeorating the exact landing point of Hank Aaron’s 755th career home run while playing for the Milwaukee Brewers? It’s one of the most historic moments in Brewers and Major League Baseball History.
You can get a behind-the-scenes look at the stadium (formerly known as Miller Park) with an official tour.
The Classic Walk-Up Tour includes a visit to the Selig Experience, Playing Field, Visitors’ Clubhouse, Visitors’ dugout, Brewers bullpen, luxury suite level, Press Box, Bob Uecker’s broadcast booth, and many other special locations.
Tours are capped at 20 guests, so be sure to book your tour in advance.
Check out 10 Tips for Visiting American Family Field With Kids >>
Boat Tours
Did you know you can get a front-row view of the Milwaukee skyline on a Milwauke boat tour?
You’ll learn about the historical landmarks on the shores of our great city, and get a narrated tour on the beautiful Milwaukee River and Lake Michigan.
You can also rent a boat and explore the water on your own.
“The Hop” Streetcar
Your kids will have so much fun hopping on and off The Hop, Milwaukee’s very own streetcar. Pick it up at one of its 10 stops through the downtown area.
Plus, here are 10 kid-friendly destinations along the route, including Milwaukee City Hall, Betty Brinn Children’s Museum, the Milwaukee Public Market, and more.
Keep an eye out for special events like Holidays on the Hop and Hop Summer Nights, when riders get a free popsicle and enjoy live music aboard the streetcar.
See all 21 Tours and Tastings in Milwaukee >>
Public Beaches
There are nine public beaches along the shores of beautiful Lake Michigan (the greatest lake in our humble opinion!) From Doctor’s Park to South Shore Park, discovery our favorite hot spots along the lake.
Shopping
80. Hit the Mall
From The Yard at Bayshore in the city’s north shore area to the ritzy Corners of Brookfield, Southeast Wisconsin has something for everyone when it comes to shopping.
See the “11 Best Shopping Malls around Milwaukee, WI” >>
81. Shop Local
From locally owned children’s bookstores like Rooted MKE to quirky toy stores like Ruckus & Glee, Milwaukee’s local economy is thriving.
See the 9 Best Milwaukee Toy Stores and Children’s Boutiques >>
Seasonal Fun
Summer
Let’s be honest, the summer months are the real reason we live here. There is nothing like the magic of summertime in Milwaukee when it comes alive June through August.
From exploring the city’s festivals and outdoor concerts to cooling off in water parks and splash pads, there’s no shortage of activities to keep kids entertained all season long.
Here are our most popular summer recommendations:
Beer Gardens (Yes, they’re Kid-Friendly)
Exploring the Milwaukee Riverwalk
Fall
As summer fades away and the leaves start to change, it’s time to welcome the arrival of fall – a season filled with cozy sweaters, warm drinks, and plenty of family-friendly activities.
And what better place to enjoy the crisp autumn air than Milwaukee, Wisconsin, where you can find an abundance of fall-themed fun for all ages.
From apple picking to pumpkin patches, corn mazes to observation towers, Milwaukee has it all.
So grab your loved ones, bundle up, and get ready to experience the best of fall family fun in and around Milwaukee!
Here are some of our top recommendations:
Holiday Cheer
The winter holidays are a magical time of year, especially when you’re a kid.
And if you’re looking for ways to make the most of this festive season with your little ones, there’s no better place than Milwaukee, Wisconsin.
From twinkling holiday lights to bright red Santa’s mailboxes and magical holiday events, Milwaukee has it all.
So, get ready to bundle up, sip on some hot cocoa, and dive into the winter wonderland of Milwaukee.
Here are out top recommendations:
Winter
Winter in Milwaukee might be chilly, but that doesn’t mean you and your family have to stay cooped up indoors. Here are our top recommendations for Winter:
100 Winter Fun Ideas Around Milwaukee
Celebrate Martin Luther King Jr. Day
5 Wintry Things to do Without Snow
Spring
As we emerge from winter, spring celebrations are a welcome reprieve.
From St. Patrick’s Day festivities to Easter egg hunts, 414 Day, and maple sugaring events, there’s something for everyone to enjoy.
Day Trips
Are you ready for an adventure? We’ve got an epic list of the 100 Best Day Trips From Milwaukee, each offering a unique blend of fun, education, and adventure.
Here are some of our favorites:
Old World Wisconsin
The Milwaukee area is home to several open-air museums, and Old World Wisconsin is crown jewel of them.
At Old World Wisconsin, families can walk through the 1870’s Crossroad Village, shop in the general store, watch the blacksmith work his craft, tour homes rom Irish and Yankee immigrants, learn about an early African-American community, take a lesson in the Raspberry School, explore immigrant homes, hop on a high-wheel bicycle, meet pigs, cows, horses, sheep, and chicken, and so much more.
The Wade House is another open-air museum in Greenish, Wisconsin. It’s a 240-acre Wisconsin historic site operated by the Wisconsin Historical Society.
Bookworm Gardens
1415 Campus Dr., Sheboygan, WI 53081
bookwormgardens.org
Bookworm Gardens is a meticulously tended children’s garden based on childhood books.
What a treasure this place is. Bookworm Gardens, a sprawling green space based entirely on children’s literature, offers free admission and hours of whimsical fun to area families. Located just off the highway in Sheboygan, it is well worth the 50 minute drive from Milwaukee.
Explore the Magic School Bus, the “Hansel and Gretel” Learning Cottage, the Secret Garden, the dinosaur garden, giant Goldilock chairs, a Japanese teahouse, Charlotte’s Web Barn and Garden, koi pond, and so much more.
Read more about Bookworm Gardens >>
Cedarburg Historic District
Located just 22 miles north of Milwaukee, historic Cedarburg offers fun for the whole family.
Browse through the shops in the Cedar Creek Settlement, check out the General Store Museum and enjoy a walk over the last covered bridge in Wisconsin in Covered Bridge Park. Cedar Creek Park has a nice playground along the river next to Cedar Creek Brewery.
One of the best new places to visit is Art of Joy, a social house and mercantile located in the heart of historic Cedarburg. You’ll find zero-proof cocktails, live music, and a kids area on the upper level!
Dinosaur Discovery Museum (Free!)
5608 Tenth Ave., Kenosha, WI
museums.kenosha.org/dinosaur
The Dinosaur Discovery Museum is a small but mighty museum located in Kenosha, about 45 minutes from Milwaukee.
You can tour the main gallery filled with impressive dinosaur skeletons that are casts of actual fossil bones.
Head downstairs to dig for fossils, do dinosaur crafts, and peek into the on site laboratory. Admission is free!
Read more about the Dinosaur Discovery Museum >>
East Troy Electric Railroad
2002 Church St., East Troy, WI 53120
Board at either the depot in East Troy or at The Elegant Farmer in Mukwonago.
Meander through the depot museum where kids can be a trolley motorman, discover the joy of model layouts and learn about electricity. The gift shop features a unique selection of railroad souvenirs for all ages.
For more fun, try the ice cream at the Lauber’s Old Fasioned Ice Cream Parlor next to the depot or enjoy a meal at Ivan’s on the Square in East Troy.
Read more about the East Troy Electric Railroad >>
Chicago
One of the best parts about living in Milwaukee is having easy access to the world-class popular attractions in Chicagoland (without the daily traffic!).
Whether you’re planning an easy day trip from Milwaukee, a full weekend of fun, or just wondering what to do while you visit relatives, we rounded up the 100 Best Family Attractions Around Chicago.
If you’ll be spending most of your time in the surrounding suburbs, check out the 100 Best Things to do With Kids in Chicagoland.
And, if your Chicago relatives are wondering what there is to do in Wisconsin, send them our list of the 25 Best Wisconsin Day Trips From Chicago >>
91. Madison
From the free Henry Vilas Zoo, to the towering State Capitol on State Street, Madison is packed with family-friendly fun.
Take time to smell the flowers at Olbrich Botanical Gardens, take a tour of the capitol, stop by the Madison Children’s Museum, and taste something new at the Dane County Farmer’s Market.
If you’re visiting in the Fall, head to a UW Badgers Game. Here are 10 Tips for Visiting Camp Randall With Kids >>
EAA Aviation Museum
3000 Poberezny Road Oshkosh, WI 54902
eaa.org
With a collection of more than 200 historic airplanes along with world-class galleries and displays, the EAA Aviation Museum is a year-round destination. Check out the annual AirVenture event every summer and the Kids Gallery year round.
Bay Beach Amusement Park
1313 Bay Beach Rd., Green Bay, WI 5430
greenbaywi.gov/baybeach
This municipal amusement park offers a ferris wheel, bumper cars and boats, a giant slide, a roller coaster, and more. It is located on the Fox River. Admission and parking are free. Rides cost anywhere from 25 cents to two dollars.
Wisconsin State Parks
Whether you and the kiddos are looking to hike nature trails, swim, canoe, have a picnic or just take in some fresh air, state parks offer all that and more in a no-frills format.
The best state parks offer incredible views of natural beauty, miles of trails, plenty of outdoor activities and inviting picnic areas.
We found 15 Beautiful State Parks Within Two Hours of Milwaukee >>
If you’re a history buff, you’ll definitely want to check out Aztalan State Park, a National Historic Landmark where you can learn about an ancient village that thrived between A.D. 1000 and 1300.
See all 100 Best Day Trips From Milwaukee >>
Weekend Trips
Great Wolf Lodge in Gurnee
Tons of water fun awaits just over the Illinois border at this 80,000-square-foot indoor/outdoor waterpark. Great Wolf Lodge (formerly Key Lime Cove) opened its Gurnee, Illinois, location in 2018, and its been a hit ever since.
Fort Mackenzie is an interactive four-story water fort full of slides and toys for the littles. Younger children love to wait while the giant bucket at the top fills up with gallons of water and then comes splashing down on them.
See all 5 Indoor Water Parks Near Milwaukee >>
Wisconsin Dells
The Wisconsin Dells is the Water Park Capital of America, and you’ll have no problem finding ways to keep your family entertained.
To start your search, check out our post about the 5 Best Wisconsin Dells Hotels With Indoor Water Parks >>
Grand Bear Resort at Starved Rock
Grand Bear Resort is located in the beautiful setting of Starved Rock State Park in Utica, Illinois.
The recent reviews on Trip Advisor are consistently glowing.
It offers an indoor water park, a miniature golf course, an arcade, crafts, family movie nights, outdoor bar, and more.
See all 20 Wisconsin & Illinois Hotels With Indoor Water Parks >>
Freshwater Fishing Hall of Fame
If you’re headed up to northwest Wisconsin with the kids, or happen to be passing through the charming city of Hayward, you’ll want to make a stop at the Freshwater Fishing Hall of Fame.
It’s better known as the “Musky Museum”, thanks to the 143 foot long, four story muskellunge sculpture that serves as the destination’s centerpiece.
Read more about the World’s Largest Musky Sculpture >>
Camping
Looking for a great place to camp this summer with kids?
Whether you’re a seasoned outdoor family, or it’s your first time camping, these campgrounds and RV parks offer plenty of family fun for all ages.
The most popular weekends for family camping are Memorial Day weekend and Labor Day weekend, but these Wisconsin campgrounds are available throughout the summer.
Gather ’round the campfire, and let the good times roll!
Here’s a list of the 11 Best Campgrounds With Water Parks in Wisconsin >>
Apostle Islands
Perhaps the most famous of all the national parks and trails in Wisconsin is the Apostle Islands National Lakeshore, a coastal park located on the northeastern tip of the Bayfield Peninsula, brimming over with natural beauty.
Read about 4 Stunning National Parks in Wisconsin >>
Midwest Travel
St. Louis
Perhaps best known for its iconic Gateway Arch and blues music scene, St. Louis is one of the biggest cities in the Midwest.
It has a rich history. This is where Lewis and Clark began their expedition in 1804, where the Supreme Court heard the pivotal Dred Scott case, and it was host to the World’s Fair in 1904.
Today St. Louis offers an abundance of free museums and attractions for visitors, making it a prime candidate for your next family road trip.
Here are 15 free family activities in St. Louis, plus some bonus ideas for your itinerary.
Direct Flights From MKE
Heading out of the Milwaukee area for awhile?
Traveling with kids can be a daunting task.
And when you add the stress of navigating through multiple airports and long layovers, it can quickly turn into a nightmare.
But the good news is that you don’t have to go through the stress of multiple connecting flights to reach your dream family vacation destination.
The Milwaukee airport has you covered.
There are direct flights from the MKE airport to some of the best family destinations in the US, such as Orlando, Seattle, Atlanta, Phoenix, and Washington D.C.
Giving Back
While it may be difficult to squeeze one more thing into your busy schedule, doing community service sure knocks out a lot of things on a parent’s “to-do list for raising a good person.”
Besides positively impacting the people and organizations that you help, the service can help your own child in many ways.
First, it helps them to develop empathy and compassion, learn more about their community and the people who live in it, and feel more connected to their world.
Besides that, it’s a great way to bond with friends and family in a new way. You may even discover or develop new skills and talents that you didn’t know about before.
Finally, it can help them learn the importance of responsibility, keeping commitments, and get them in the habit of using their free time productively.
With all this in mind, some projects are better suited to kids than others.
Here are 7 fun ways to volunteer with kids around Milwaukee >>
What did we miss? Email us at hello@mkewithkids.com.
Calie Herbst, Editor-in-Chief of Milwaukee With Kids, has spent over a decade combining her experiences as a parent of three to create a hub for Milwaukee’s family adventures.
Her decade-long teaching career in Milwaukee Public Schools and academic background, including a Master’s in Teaching from Marquette University and dual B.A.s in Sociology and Spanish from the University of Wisconsin – Madison, fuel her passion for inclusive and engaging family content.
Calie is also a recognized voice in local media, contributing to WISN Channel 12 News, WTMJ Wisconsin Morning News, Fox 6’s Real Milwaukee, and B93.3.
Discover more about Calie’s journey and editorial approach on her About Page and Editorial Policy Page.
