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Fun Things Do in Milwaukee with Kids

If you haven’t visited Milwaukee with kids, you don’t know what you’re missing. This city on Lake Michigan has family friendly museums, restaurants, and festivals to appeal to children of all ages. The city is fairly easy to maneuver, has a stunning lakefront, and is perfect for a weekend getaway. We love visiting from Chicago and each time we are pleasantly surprised to discover new sights to explore as a family.

Best Things to do in Milwaukee with kids

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Best family attractions in Milwaukee

If you’re looking for a fun road trip in the Midwest, Milwaukee is the perfect choice. It has a rich history, outdoor adventures, and a crazy good food scene. If you’re taking a road trip with kids, we are sure they will love it!

1. Betty Brinn Children’s Museum

This children’s museum in Milwaukee will entertain kids for many hours. They can pretend to check out your groceries, perform maintenance on a kid sized car, and mail you a letter from the post office. Your child’s imagination is the limit! 

Everything is interactive and infants up through age 8 will be entertained for a couple of hours by everything there is to do in this museum. Educational and exciting for little ones, visitors won’t be disappointed they made the trip.

2. Discovery World

My kids have a thing for science museums (this is the third one we’ve visited this year) and they love Discovery World. There’s a music factory where children can create their own music, a simple machine shipyard where they learn the basics of mechanics, and an aquarium where they can pet sting rays and sharks.

Discovery World-Kids Are A Trip
Making music at Discovery World.

The museum occupies a gorgeous space on the lakefront and has its own sailing vessel you can visit or take out for a tour on the lake. Definitely something you don’t find every day.

3. American Family Field

American Family Field (formerly Miller Park) is the home of the Milwaukee Brewers. Even if you’re not a baseball fan (or a Brewers fan), this is a fun place to spend a day with the kids.

It is a beautiful, clean stadium with a retractable roof and a ton of fun kids activities. What kid wouldn’t love watching life size sausages racing around the park between innings? A hit for so many reasons. Take them out to the ball game, you won’t be disappointed.

Miller Park-Kids Are A Trip
American Family Field is a beautiful place for a ball game!

4. Milwaukee County Zoo

I can’t lie, we will often travel to the Milwaukee County Zoo because it’s more convenient to reach than the ones in Chicago. We also love taking a ride on the Sky Safari, the opportunity to feed the giraffes, and watching the crazy antics of the seals and sea lions.

The Best Things to Do in Milwaukee in a Weekend

The zoo features over 2,000 animals and covers 200 wooded acres, the hardest part is knowing where to begin once you arrive. There’s also a zipline and ropes course for those feeling adventurous and a zoo train for those looking for a leisurely way to explore the zoo. If your kids love a zoo, this is the place for you.

5. Milwaukee Public Museum

Don’t be thrown off by the uninspiring name, the Milwaukee Public Museum is anything but boring. This natural history museum houses dinosaur bones, a tropical butterfly garden, a re-created European village, and an IMAX theater. That’s just the beginning, and visitors will be amazed by the variety of artifacts they will find.

If you’re traveling by car, be sure to grab our road trip essentials!

6. Beaches in Milwaukee

If your hotel doesn’t have a swimming pool (many of the downtown hotels do not), head for Bradford Beach which is a popular destination near downtown. There are biking and jogging trails that run along the lakefront if you would rather go for a stroll.

We headed 5 miles further north to Atwater Park in Shorewood (close to Sprecher Brewery below) and enjoyed the playgrounds and beach there. It’s a long hike down to the beach, but definitely worth a stop.

Milwaukee Beach-Kids Are A Trip
What’s not to love about Lake Michigan beaches?

7. Explore the SafeHouse

We didn’t know what to expect from this “secret” restaurant where you need a password to enter and experience life as a “spy”. Our kids thought this place was a hoot and they loved their secret mission that took them all over the restaurant looking for clues while we waited for lunch to be served.

I have to be honest, don’t go for the food, you’ll be disappointed. Go for the spy experience and be sure to bring a quarter for the secret getaway phone booth. The kids will remember this experience for a long time.

8. Sprecher Brewery

Many people look at me funny for suggesting a brewery tour with children, but this isn’t your ordinary brewery. The Sprecher brewing company manufactures not only beer, but gourmet soda as well.

The kids may not find the tour through the brewery very exciting, but all bets are off once they discover they can drink all the free soda they want.

Some of their favorites might include cherry cola, grape, orange cream, and the famous Sprecher root beer. We literally had to drag our kids out of there, they were having so much fun!

Sprecher Tour-Kids Are A Trip
Sniffing the malt on the Sprecher tour (he liked the soda sampling more).

9. Harley Davidson Museum

I didn’t think I would enjoy the Harley Davidson museum, but I was pleasantly surprised. The museum does a great job appealing to kids, and parents will appreciate the museum’s hands on exhibits. Kids will love dressing up in their own Harley gear and creating their own Build-A-Bike.

The place is gorgeous and the layout almost seems more like an art exhibit than a collection of motorcycles. Harley Davidson knocked it out of the park with this one.

Harley Davidson Museum Milwaukee

10. Visit a festival

Milwaukee is known for its amazing summer festival, Summerfest, but there are festivals all year long. Many are kid friendly and tons of fun. The Wisconsin State Fair is also held in Milwaukee in the summer. It’s worth the trip!

Grand Geneva Resort and Spa: A Perfect Family Getaway Any Time of Year

Where to Eat in Milwaukee with kids

There is no shortage of delicious food in Milwaukee and we would highly recommend Mader’s for an authentic German experience, Café Benelux for its cinnamon streusel french toast, or Milwaukee Public Market where you can find a variety of fresh food from local vendors.

Head to the Purple Door for a sweet treat and enjoy their artisan ice cream, with rotating flavors to choose from and ice cream flights. Yum!

Cafe Benelux French toast Milwaukee
Don’t miss the French toast!

Where to stay in Milwaukee with kids

Families will like the spacious suites and free breakfast at the Residence Inn downtown. The DoubleTree is close to the Milwaukee Public Museum and Mader’s, has decent sized rooms and warm chocolate chip cookies on arrival (kids love that).

The Hilton Garden Inn is located in the heart of the city and is walking distance to all attractions. All rooms have refrigerators and microwaves which is perfect for families on the go.

If you are looking for more things to do in Wisconsin, don’t miss our weekend in Milwaukee post and Door County in summer.

Book Your Flights – You can find discounted fares using sites like Momondo or Skyscanner. If you want to keep an eye on discount fares, we suggest signing up for Going, a daily newsletter with flight sales around the world.

If you travel frequently, consider investing in a Priority Pass for airport lounge access. It’s nice to have a space where you can relax before your flight.

Book Your Accommodation

We regularly use Expedia.com and Hotels.com to find lodging when we travel. It’s a great way to compare vacation rentals, hotels, and resorts.

If your family knows they want to stay in a vacation rental, we recommend looking at VRBO and Plum Guide.

Book Your Transportation

For rental car agencies, try Rentalcars.com. We tend to use Hertz simply for the quality of service.

Book Your Tours and Travel Photos

We regularly used companies like Viator and GetYourGuide to book tours when we travel. Both have great communication and a large variety of activities that work for all ages.

If you’re visiting a city with multiple attractions, be sure to check out a discount pass, such as CityPASS or Go City. Both are worthwhile investments.

Context Travel is another option and they offer more educational-based activities. The former teacher in me loves their tours.

One of our favorite things to do annually is taking photos with Flytographer. They have photographers around the world and we’ve used them on four separate occasions. This is our favorite travel souvenir.

Don’t Forget Travel Insurance

With the state of travel these days, it’s important to have some type of travel insurance to cover any unforeseen accidents, illnesses, threats, or cancellations. We always travel with insurance and would recommend SquareMouth, Travelex, or Medjet as good options. And if you want to compare different insurance options, use Travel Insurance Master to find the best policy for your group.


  1. Great list! As a Milwaukeean myself I think you covered everything & opened my eyes to some new things. Cinnamon Streusel French Toast – yes please! One other event happening in Green Bay this weekend, which is just a short drive from Milwaukee is Packer Family Night! I have a guide posted on my site if you want more details.

  2. I really wish I would have taken advantage of visiting Milwaukee when I lived in the Chicago burbs. It’s sad, the only time I ever went to Milwaukee was to fly out of the airport because I hated O’Hare lol.

  3. I would love to take my kids to Milwaukee!I have akways wanted to go there!

  4. I have only been to Milwaukee for work and never got to explore. I am not a kid but want to go to the Purple Door and check out the ice cream next time I am up that way.

  5. Discovery World sounds like an absolute blast!! This is a great list; I’d love to do the same for Houston! 😀

  6. I’ve been to Milwaukee once – and I loved it. And I was there in January! The zoo had cross-country skiing and there were some great winter festivals going on as well. That was the only time that I ever saw motorcycle racing on ice. Interesting!

  7. I have never been to Milwaukee. I should have took the opportunity when I lived closer.

  8. What a great list! It’s always nice to know what you can do with kids in a certain area. 🙂

  9. I have actually been to Milwaukee a few times, but I have never visited any of these places! My sister in law lives there, so we tend to stick close to home, and then do all of our exploring when we venture to Chicago. Will have to check out a few of these places next time!

  10. Looks like you had a great trip! I will have to put Milwaukee on our list of places to travel to, it looks like a great little city. I will also be referencing your post to make sure we visit all the good stuff 😉

  11. I forgot to mention the french toast has marmalade. Divine! I am sure Packer Night is amazing. Thanks for the tip!

  12. I am right there with you. We have flown out of Mitchell as well because it is pretty easy to get in and out and sometimes cheaper than O’Hare. Come visit Chicago and we’ll go visit Milwaukee together! : )

  13. Thanks Barb! Milwaukee really is family friendly and I love all the fun things for families.

  14. Thanks Maria. Milwaukee is a great place! It’s surprising how few people realize it!

  15. Michelle, the Safe House was a blast. I have never seen a restaurant like it before, and it really is a go for the experience (not the food) type of restaurant, but hey, it’s for the kids, right?

  16. Debra, it is a great place to go with kids. I hope you get there soon!

  17. Who wouldn’t want to go to the Purple Door? Their ice cream sounds amazing! Check out the café too, they serve breakfast and lunch and have nice patio seating when the weather is good.

  18. Thanks Jaclyn. Discovery World is a ton of fun. Definitely do a list for Houston. I’m sure people would love it!

  19. That is so cool Stacey! Milwaukee really doesn’t shut down in winter which I love. They really get out and embrace the cold!

  20. Really? It is a great city and now you’re moving farther away so it may be awhile before you have a chance to visit. Thanks for saying hi!

  21. Thanks Bonnie! Milwaukee is a great place to visit.

  22. Pam, thank you. If you ever get to Milwaukee, know that adults and kids will not be bored!

  23. Thanks Michelle. Milwaukee is a great place for kids and we are lucky it’s close enough to visit often.

  24. Donna, definitely check these places out. Not all of them are kid only, they would be great for adults too!

  25. I love this review! these are things that my kids would totally dig…especially the spy museum. I am pinning this in hopes that the we can take a family trip to Milwaukee.

  26. This looks like such a great collection of fun things to do in Milwaukee! I think my husband has a work trip scheduled to visit there sometime later this year, so we might just have to see about tagging along! Thanks so much for sharing this with us at Merry Monday! We hope you’ll join us again starting tonight! 🙂

  27. Christine, that would be a ton of fun. Definitely go if you have a chance, you won’t be disappointed!

  28. Jessica, the spy place is really cool. I hope you have a chance to visit Milwaukee.

  29. Amazing list! I can’t wait to go to Milwaukee. I have two little travelers who want to go everywhere! I’m happy that you are writing about places that I can visit with my kids. My sister have moved to Kenosha with her husband and I’d love to visit them and see their new home. When we go it will be for a long vacation and we will definitely go to Milwaukee. Thank you for sharing this lovely list and your experience in the city!

  30. Jane, Milwaukee is a lovely place to visit and very close to Kenosha. So many great places to experience in Wisconsin, I am sure you will have a wonderful visit!

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