Road Trip! Here are our Favorite Things to Do in Milwaukee with Kids

The Third Planet Earth Dinosaurs at Milwaukee Public Museum
Milwaukee Public Museum

Milwaukee holds a special place as one of our favorite Wisconsin road trip destinations! This vibrant city by the lake is not just for adults! There’s a treasure trove of family-friendly activities for kids of all ages. From interactive museums to outdoor adventures, here’s a roundup of our top things to do in Milwaukee with kids.

Milwaukee Public Museum

Milwaukee Public Museum

The Milwaukee Public Museum is always a classic stop for any Milwaukee tour. Step back in time and explore the wonders of the world. There’s so much to see and learn, from dinosaurs to butterflies, science to history. Don’t miss the beloved Streets of Old Milwaukee exhibit for a taste of Milwaukee’s history.

Part of the Association of Science and Technology Centers (ASTC Travel Passport Program). Note that the home address and family membership address must be more than 90 miles from the visiting museum. Admission must be purchased in person if using.

Milwaukee Zoo
Milwaukee County Zoo

Milwaukee County Zoo

Lions and tigers and bears, oh my! Take a walk on the wild side at the Milwaukee County Zoo, where your little animal lovers can get up close and personal with a variety of creatures from around the globe. Be sure to catch a feeding or animal encounter for an extra special experience.

Admission prices are reduced from November 1 – March 31, and several free days exist. Check with your Park and Recreation Department or credit union for discounted tickets.

Betty Brinn Children’s Museum, Milwaukee

Betty Brinn Children’s Museum

The Betty Brinn Children’s Museum is a fun, interactive learning museum in downtown Milwaukee. It’s surprisingly easy to park in downtown Milwaukee, with Milwaukee County’s O’Donnell Park Garage adjacent to the museum. With hands-on exhibits focusing on science, art, and literacy, this museum is sure to spark creativity and curiosity in your little ones. Don’t forget to check out the outdoor play space for some fresh air and fun.

If you have a Family Explorer Membership from the Building for Kids, admission is 1/2 price!

Discovery World Milwaukee
Discovery World, Milwaukee

Discovery World

Discovery World is a science and technology center that offers hands-on exhibits and fun exhibits for all ages! From touching stingrays in the aquarium to experimenting in the innovation labs, your kids will be fascinated by all the interactive exhibits. Plus, don’t miss the breathtaking views of Lake Michigan from the outdoor deck.

Part of the Association of Science and Technology Centers (ASTC Travel Passport Program). Note that the home address and family membership address must be more than 90 miles from the visiting museum. Admission must be purchased in person if using.

Milwaukee Art Museum

Milwaukee Art Museum

The Milwaukee Art Museum is Wisconsin’s largest art institution, with collections spanning from antiquity to the present, and offers a diverse range of family-friendly activities. Explore interactive gallery tours, storytimes, drop-in, hands-on art-making workshops, and many family-friendly events and festivals throughout the year. 

Look for imaginative in-gallery activities at the ArtPack Station including family guides, museum moments cards, costumes, ArtPacks, and SketchPacks.

Make sure to grab a family selfie on the iconic Reiman Pedestrian Bridge with the museum in the background! 

Bonus: admission is free for kids 12 and under!

National Bobblehead Hall of Fame & Museum, Milwaukee

National Bobblehead Hall of Fame & Museum

The National Bobblehead Hall of Fame & Museum in Milwaukee is like stepping into a quirky wonderland of wobbling heads and big smiles. It’s a haven for collectors and curious visitors alike. Picture shelves upon shelves adorned with bobbleheads of all shapes, sizes, and characters, from sports legends to pop culture icons. It’s the ultimate scavenger hunt!

Bonus: there is a Collective Coffee next door!

The Mitchell Park Domes, Milwaukee

The Domes

Mitchell Park Domes is a great place to forget about winter and explore a desert oasis, a tropical jungle, and pretty flower gardens in one day—all indoors!

Your kids will love exploring the lush gardens and encountering exotic plants from all over the world. Keep an eye out for special events like the holiday train show or family workshops.

JHVEPhoto -
Harley-Davidson Museum, JHVEPhoto –

Harley-Davidson Museum

Rev up your engines and head to the Harley-Davidson Museum for a one-of-a-kind experience. From vintage motorcycles to interactive exhibits, there’s something for everyone in the family to enjoy. Don’t forget to snap a family photo on a Harley for the ultimate souvenir.

Cheering on the Milwaukee Brewers, American Family Field

Milwaukee Sports

Heading out to catch a sports game in Milwaukee with the family is always a blast! Whether it’s cheering on the Brewers at American Family Field, catching the Bucks at the Fiserv Forum, or rooting for the Admirals at the UW-Milwaukee Panther Arena, there’s never a dull moment. The energy in the stadiums is contagious, with fans coming together to support their teams with cheers and high-fives.

Lakeshore State Park, Milwaukee


On a sunny day, head to one of Milwaukee’s beautiful lakefront parks for some outdoor fun. Whether you’re flying kites at Veterans Park, splashing in the water at Bradford Beach, or picnicking at Lakeshore State Park, you’ll love soaking up the natural beauty of Lake Michigan.

Milwaukee also has some fantastic free parks and playgrounds perfect for kids to burn off some energy or chill and enjoy a picnic.

Third Street Market Hall, Milwaukee

3rd Street Market Hall

The 3rd Street Market Hall in Milwaukee’s Historic Third Ward is a culinary hotspot that celebrates local flavors and global cuisines under one roof. 

The laid-back atmosphere is perfect for families, and there is a wide range of food options, yard games, and other activities. 

Milwaukee has so many great restaurants and places to eat. Here are a couple of other favorites!

  • Milwaukee Public Market is a lively marketplace where you can explore a diverse array of local vendors offering fresh produce, artisanal foods, and gourmet treats.
  • Comet Cafe is located on the East Side and serves some of the best comfort food in the city!
  • Blue’s Egg in downtown Milwaukee is famous for its delicious brunch.
  • Colectivo has several locations throughout the Milwaukee area. Delicious coffee, baked goods, and some lunchtime favorites.
  • AJ Bombers is known for burgers, peanut appetizers, and where you can write on the walls and tables with markers!
  • Kopp’s Frozen Custard is a landmark in Milwaukee and famous for its delicious frozen custard and burgers. 
  • Purple Door Ice Cream is a beloved local gem in Milwaukee known for its artisanal approach to crafting delicious, small-batch ice cream. Located in the Walker’s Point neighborhood.
AJ Bombers, Milwaukee

Did we miss your favorite spot to explore with your family in Milwaukee? Let us know!

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