Top 10 Fun Things to Do in Milwaukee with Kids
Milwaukee — a beautiful city on the shores of Lake Michigan — is bursting with charm, history, and family-friendly attractions. Known for its lively festivals, art scene, and friendly Midwestern hospitality, Milwaukee offers more than just its world-famous breweries. It’s a vibrant destination that welcomes families with open arms, providing countless opportunities for fun, learning, and outdoor adventures.
While many visitors associate Milwaukee with beer and baseball, parents will be delighted to discover that the city is actually a hidden paradise for families with children of all ages. Whether your kids love science, animals, art, or simply running around at the park, this city has something for everyone. From hands-on museums to scenic lakefronts and free outdoor fun, you’ll never run out of amazing things to do in Milwaukee with kids.
In this guide, we’ve curated the Top 10 fun things to do in Milwaukee with kids — from iconic spots you can’t miss to local favorites that families adore. Let’s explore!
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1. Explore the Milwaukee Public Museum
Start your Milwaukee adventure at the Milwaukee Public Museum, a world-class institution that blends education and excitement for both children and adults. Inside, you’ll find fascinating exhibits that transport you across time and continents — from ancient civilizations to the age of dinosaurs.
Kids love walking through the Streets of Old Milwaukee, a full-scale recreation of a 19th-century town, and exploring the butterfly garden filled with colorful species fluttering around them. The museum’s planetarium is another highlight, offering captivating space shows that make learning about astronomy both engaging and unforgettable.
This museum is one of the most popular things to do with kids in Milwaukee because it turns learning into an adventure. Parents can appreciate the historical depth, while children are mesmerized by the lifelike dioramas and interactive activities. It’s an educational experience wrapped in fun — exactly what family vacations should be.
2. Get Hands-On at Discovery World
Located right on the Lake Michigan shoreline, Discovery World is a dream come true for curious minds. This massive science and technology center offers dozens of hands-on exhibits where kids can experiment, explore, and engage their creativity.
From robotics labs to the Reiman Aquarium — where you can come face to face with fish, rays, and even touch sea creatures in the interactive tank — Discovery World provides endless entertainment. Families can also enjoy the music studio, freshwater exhibits, and sustainability lab that teaches about eco-friendly living.
It’s one of the most fun things to do with kids in Milwaukee, especially on days when the weather calls for indoor exploration. Parents will love seeing their children light up as they build, test, and discover new things. Don’t forget to step outside for a breathtaking view of Lake Michigan — the perfect family photo spot.
3. Visit Milwaukee County Zoo
For animal-loving families, the Milwaukee County Zoo is a must-visit attraction. Home to more than 2,000 animals from around the world, this zoo offers both excitement and education. Children can see elephants, giraffes, lions, penguins, and more — all in naturalistic habitats designed for their comfort and care.
The zoo features a mini train that circles the park, making it a hit for younger kids. Seasonal activities like animal feedings, the Sky Safari chairlift, and family festivals make every visit unique. Parents appreciate how the zoo balances fun and conservation education, encouraging kids to learn about wildlife protection.
Among all things to do in Milwaukee with kids, this zoo stands out for its variety and immersive experience. Plan to spend at least half a day here, as your children will want to explore every corner!
4. Play and Learn at Betty Brinn Children’s Museum
When it comes to fun things to do with kids in Milwaukee, the Betty Brinn Children’s Museum is at the top of every parent’s list. Designed specifically for children under 10, this museum encourages creative play through imaginative exhibits.
Kids can pretend to be shopkeepers in a mini city, build with large-scale blocks, or explore science experiments designed just for young learners. The exhibits are constantly updated to align with early childhood development and STEM principles.
Parents love that it’s both entertaining and educational — a place where “don’t touch” signs don’t exist. It’s ideal for rainy days or when you need an indoor activity that keeps everyone smiling. Plus, its location near the lakefront makes it easy to combine with other attractions nearby.
5. Discover The Domes at Mitchell Park
A true Milwaukee landmark, The Domes at Mitchell Park (officially the Mitchell Park Horticultural Conservatory) offers a magical experience for families. These three glass domes each house a different ecosystem: the Desert Dome, Tropical Dome, and Floral Show Dome.
Inside, children can explore exotic plants, learn about ecosystems, and even spot small birds and waterfalls in the tropical environment. The Floral Dome changes themes throughout the year, offering new colors and floral arrangements with every visit.
Families seeking both beauty and education will find this one of the most unique things to do in Milwaukee with kids. The Domes make for incredible photos and peaceful walks, while giving your children a mini adventure around the world — all in one place.
6. Enjoy Free Fun at Bradford Beach and the Lakefront
If you’re searching for free things to do in Milwaukee with kids, look no further than the stunning Bradford Beach and Lakefront area. On sunny days, families flock to this sandy paradise to build sandcastles, play beach volleyball, or simply enjoy a relaxing picnic by the water.
The Lakefront path is perfect for walking, biking, or rollerblading with kids, offering scenic views of Lake Michigan and the Milwaukee skyline. Parents can grab a coffee from nearby vendors while children run freely in the open spaces.
It’s one of the most beloved fun things to do in Milwaukee with kids because it’s simple, joyful, and budget-friendly. Don’t forget sunscreen, sand toys, and your camera for those picture-perfect family moments!
7. Take a Family-Friendly Brewery Tour at Lakefront Brewery
Milwaukee’s brewing heritage is world-famous — and surprisingly, it’s something families can enjoy too. The Lakefront Brewery offers a family-friendly tour that’s as entertaining as it is educational. While parents sample craft beer, kids can learn about the science behind brewing and enjoy the lively atmosphere.
Guides are known for their humor and storytelling, keeping both adults and children entertained. The brewery’s riverside location adds charm, and there’s a restaurant where families can enjoy Wisconsin classics like cheese curds and pretzels.
It’s a unique twist on things to do with kids in Milwaukee, proving that even a brewery visit can be wholesome, cultural, and fun for everyone.
8. Explore Nature at Urban Ecology Center
Located in multiple parks across Milwaukee, the Urban Ecology Center is dedicated to reconnecting families with nature. Kids can explore hiking trails, climb the observation tower, or borrow outdoor equipment for free — like snowshoes or canoes.
This center also runs educational programs that teach children about wildlife, ecosystems, and sustainability. Parents love how hands-on the activities are, from composting workshops to birdwatching sessions. It’s a refreshing escape from city life and one of the best fun things to do with kids in Milwaukee who love the outdoors.
If your family enjoys nature and wants to inspire environmental awareness in your kids, the Urban Ecology Center is an absolute must-visit.
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9. Stroll the Milwaukee RiverWalk
For a leisurely family outing, nothing beats a walk along the Milwaukee RiverWalk. This scenic pedestrian path winds through downtown, connecting restaurants, parks, and public art displays.
Children will love spotting boats along the river or taking a photo with the iconic “Bronze Fonz” statue — a Milwaukee favorite. Parents will enjoy the calm atmosphere, making it a great way to unwind after a busy day of sightseeing.
Since it’s completely free and stroller-friendly, the RiverWalk easily earns a spot among the best free things to do in Milwaukee with kids. Don’t forget to stop by one of the local cafes or ice cream shops for a treat along the way!
10. Spend the Day at Local Parks and Playgrounds
Sometimes the best adventures are the simplest. Milwaukee is full of beautiful parks where families can unwind, play, and connect. Popular spots include Humboldt Park, Washington Park, and Cathedral Square Park, each offering large playgrounds, picnic areas, and walking trails.
In summer, many parks host outdoor movie nights, concerts, and community festivals that are free for everyone. Parents can relax under shady trees while kids run, climb, and make new friends. It’s one of the most timeless and affordable fun things to do in Milwaukee with kids.
Pack a picnic, bring a frisbee, and enjoy Milwaukee’s green spaces — proof that unforgettable memories don’t have to cost a thing.
Family Trip Tips for Your Milwaukee Adventure
Planning makes perfect! Here are some additional tips to ensure your family’s Milwaukee vacation is smooth, enjoyable, and memorable for all the right reasons.
Transportation
While downtown is very walkable, to get to attractions like the Zoo or The Domes, you’ll likely need a car. Ride-sharing services are widely available. The Milwaukee County Transit System also offers bus routes to many major attractions, which can be an adventure in itself for kids.
Family-Friendly Accommodation
Look for hotels in the downtown area, near the Third Ward, or in the Westown neighborhood. Many hotels offer indoor pools—a guaranteed hit with kids after a day of sightseeing. Some chains like Embassy Suites offer free breakfast and suite-style rooms with separate living areas, providing extra space for families.
Food for the Family
Milwaukee is a foodie city with a casual side that loves families. Don’t miss the Milwaukee Public Market in the Third Ward for a variety of quick, delicious options that will please even the pickiest eaters. Also, seek out supper clubs for a classic Wisconsin experience—they are generally very welcoming to families.
Money-Saving Tips
- CityPASS: If you plan to visit multiple major attractions (like the Public Museum, Zoo, and Discovery World), the Milwaukee CityPASS can save you up to 48% on combined admission prices.
- Free Admission Days: Many museums, like the Milwaukee Art Museum, offer free admission on the first Thursday of every month. Always check individual attraction websites for similar deals.
- Pack a Picnic: Take advantage of Milwaukee’s beautiful parks and lakefront by packing a lunch. It’s a budget-friendly and relaxing way to dine.
- Park Passes: If you’re driving, look for all-day parking lots or garages rather than metered street parking for longer stays downtown.
Frequently Asked Questions (FAQ) about Fun Family Activities in Milwaukee:
1. What are the best things to do in Milwaukee with kids?
The absolute best things to do in Milwaukee with kids are often centered around the lakefront and the city’s exceptional museums. Top recommendations include exploring the interactive exhibits at Discovery World, visiting the animals at the Milwaukee County Zoo, and playing hands-on at the Betty Brinn Children’s Museum. For a truly unique experience, don’t miss the chance to wander through the desert and tropical biomes of The Domes.
2. What is the best age for kids to enjoy Milwaukee attractions?
Milwaukee is welcoming to all ages. Toddlers and preschoolers will adore the dedicated zones at the Betty Brinn Children’s Museum and the animal exhibits at the Zoo. Elementary school-aged children (5-10) are the perfect age for Discovery World and the interactive displays at the Milwaukee Public Museum. Teenagers often enjoy the pop culture and film exhibits at the Public Museum, as well as the unique nature exploration at the Urban Ecology Center.
3. Are there any free things to do in Milwaukee with kids?
Yes! Milwaukee is excellent for travelers seeking free things to do in Milwaukee with kids. Our top free recommendations are spending a day at Bradford Beach on the lakefront, exploring the public art along the Milwaukee RiverWalk, wandering through the diverse gardens at Mitchell Park Conservatory (The Domes often has free days or low-cost admission), and letting the kids burn energy at any of the extensive local parks and playgrounds.
4. What is the best time to visit Milwaukee for families with kids?
The best time to visit Milwaukee is during the summer (June through August). The weather is warm and sunny, making outdoor activities like the Lakefront, beaches, and RiverWalk most enjoyable. Summer also means a plethora of family-friendly festivals and the best time to find fun outdoor things to do with kids in Milwaukee. If you prefer fewer crowds and milder weather, early fall (September-October) is also beautiful, especially with the changing leaves.
5. Is Milwaukee a good city for family vacations?
Absolutely. Milwaukee is consistently rated as one of the best mid-sized cities for families. It combines world-class museums and a fantastic zoo with stunning natural spaces (Lake Michigan) and a compact, easy-to-navigate downtown. The strong emphasis on interactive learning and outdoor play makes it an ideal destination for an engaging family vacation.
6. What are the best indoor activities in Milwaukee for kids when it rains?
Milwaukee shines on a rainy day! The top indoor activities are the Museum Trifecta: The Milwaukee Public Museum (dinosaurs and world history), Discovery World (science and innovation), and the Betty Brinn Children’s Museum (pure imaginative play). These three locations alone can easily fill several rainy days with educational and engaging entertainment, making them some of the most reliable fun things to do with kids in Milwaukee regardless of the weather.
7. Where can I find fun outdoor things to do with kids in Milwaukee?
For fun outdoor things to do with kids in Milwaukee, head straight to the lakefront. Bradford Beach offers sand and sun, and the path along the lake is perfect for walking or biking. The Milwaukee County Zoo offers extensive outdoor viewing areas. For nature exploration away from the central city, the Urban Ecology Center provides access to trails, rivers, and wildlife spotting, a favorite for adventurous families.
