13 Best Things to Do in Milwaukee with Kids in 2025
Milwaukee is the perfect family-friendly place to visit in Wisconsin. As the largest city in the state, there are plenty of things to do in Milwaukee with kids, from checking out some of the popular children’s museums to spending time at the beach.
As a local in Wisconsin, I’ve visited Milwaukee several times with my family and have gotten to know the city very well. Based on this personal experience, I’ve written this post about some of the best family-friendly things to do in Milwaukee, Wisconsin.
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Here are a few of the BEST things to do in Milwaukee with kids:
1. Take a Guided Tour of Milwaukee
2. Go on an Exciting Helicopter Ride
3. Visit the Harley Davidson Museum
4. Explore & Learn at Discovery World
5. Join a Kayak Tour around Milwaukee’s Skyline
13 Things to Do in Milwaukee with Kids
Below you’ll find a list of some of the best things to do with kids in Milwaukee. This list includes a variety of fun, family-friendly activities that are perfect for both younger and older kids!
1. Take the Ultimate Guided Tour of Milwaukee
There is so much to see in the city of Milwaukee, from the beautiful lakefront to the famous City Hall. The city also has a fascinating history that goes back 150 years and rivals that of Chicago.
To see and experience the best of Milwaukee, taking this highly-rated guided tour is a great option. It covers all the best sites of the city, from lakefront mansions to museums.
The tour is interactive and fun, making it a great family-friendly activity. Plus, it’s a small-group tour that is limited to 14 people max, which makes for a personalized experience.
In the 2 hour tour, you’ll learn so much about Milwaukee. I definitely recommend taking this tour at the start of your trip to get a good feel for the city and what to see and do there.
Looking for the best way to experience Milwaukee? Take the Ultimate Guided Tour of Milwaukee!
2. Go on a Milwaukee Helicopter Ride
If you are looking for a unique and exciting experience in Milwaukee, this helicopter ride is the perfect activity!
This exhilarating helicopter ride will take you around the city of Milwaukee, where you will get panoramic city views. You’ll get to see the Milwaukee River, the iconic Hoan Bridge, the Milwaukee Art Museum, and more from above – which is a unique experience.
Best of all, this helicopter ride is a family-friendly activity, and kids are sure to love riding in a helicopter!
See Milwaukee from above: Book your Private Helicopter Ride Here

3. Visit the Harley Davidson Museum
This museum focuses on the world-famous Harley Davidson motorcycles. The museum takes you through a series of exhibits to learn about Harley Davidson’s 100 years of history and see lots of unique memorabilia.
Visiting the Harley Davidson Museum is a fun activity for both kids and adults who are interested in motorcycles. There are plenty of cool motorcycle displays here. Plus, there are many interactive elements like touchscreens and hands-on exhibits which are fun for kids.
The Harley Davidson Museum is open daily from 10 am to 5 pm, and you can get skip-the-line tickets here.
4. Check Out Discovery World
Discovery World is a hands-on children’s museum focused on exploration and discovery. The museum focuses on STEM activities and encourages kids to learn through interactive exhibits.
Exhibits like the Inventors’ Workshop allow kids to use their creativity, imagination, and problem-solving skills in a fun way and educational way.
Discovery World also features a large aquarium with freshwater and saltwater tanks. This allows kids to see and learn about local freshwater fish from the Great Lakes as well as tropical marine life.
Discovery World is open Monday through Sunday from 9 am until 4 pm. Tickets are available on the Discovery World website or in person.
5. Go on a Kayak Tour of the Skyline in Milwaukee
If you want a fun, outdoor activity in Milwaukee, this kayak tour is a great choice! In this kayaking experience, you will get to paddle around the Milwaukee River and see the city from a totally different perspective.
This small group kayaking tour lasts around 1.5-2 hours and includes a local guide. This is a super fun activity for families with older kids who want to enjoy being out on the water while in Milwaukee.
The tour includes a kayak and a lifejacket. The guide can also give instructions on kayaking for anyone new to the water sport.
Explore Milwaukee by water: Book your Kayak Adventure Here
6. Play at the Betty Brinn Children’s Museum
Visiting the Betty Brinn Children’s Museum is easily one of the best things to do in Milwaukee with kids, especially for younger children under the age of 10. This fun museum focuses on interactive play and there are plenty of hands-on learning opportunities for kids.
One unique aspect of the museum is that it offers sensory-friendly play sessions twice per month. These sessions help kids explore the exhibits in a calmer atmosphere while encouraging social interaction through play.
The museum is open Wednesday – Monday: 9 a.m. to 4:30 p.m. Tickets are available on the Betty Brinn Children’s Museum website or in-person at the museum.
Looking for something different? These Milwaukee food tours are a great way to experience the city’s food culture.
7. Visit the Milwaukee County Zoo
The Milwaukee County Zoo is the biggest zoo in all of Wisconsin and is home to over 3,000 animals of 350 different species.
Walking around the zoo is a fun activity for kids of all ages, and there are plenty of shaded, stroller-friendly walking paths for little ones. The zoo also offers different animal encounters, learning experiences, a petting zoo, and a kid’s playground.
The zoo is open year-round, but times vary based on the season. For more information on opening hours, check out the Milwaukee County Zoo’s website.
8. Watch a Milwaukee Brewers Game
If you are visiting Milwaukee during baseball season, make sure to check out a Milwaukee Brewer’s game at American Family Field! Cheering on the baseball team and enjoying some hot dogs is sure to be a fun way to spend a day with family in Milwaukee.
On certain dates throughout the year, there are even special rates of 50% off tickets for kids 14 and under. For more discount day schedules, tickets, and more information you can visit the Milwaukee Brewers website.

9. Take the Grand Walk: A Self-Guided Audio Tour through Milwaukee
This self-guided walking tour is a perfect option for those who want to see more of the city, but also don’t want to be on a tight schedule or part of a group. It’s also a great option for exploring Milwaukee with kids because the tour is completely self-guided so you can start and stop wherever.
The Grand Walk self-guided tour will take you by Milwaukee’s historical sites: from the Milwaukee Public Library to the Milwaukee Art Museum. All you need is a smartphone, and you’ll be able to enjoy the audio tour and learn about Milwaukee’s 150 years of history.
Get your Self-Guided Walking Tour of Milwaukee Here
10. Have a Beach Day at Bradford Beach
Milwaukee is located along the shores of the beautiful Lake Michigan, which makes it a perfect location for a beach day.
One of the best family-friendly beaches is Bradford Beach. Located just north of the city, this beach has a large sandy area and shallow waters. It’s a great place to spend the day swimming or building sand castles while enjoying the summer weather. There is also a playground and picnic area near the beach which is great for kids.
11. Explore the Mitchell Park Domes Horticulture Conservatory
Mitchell Park Domes Horticulture Conservatory is a living plant museum. The museum consists of large domes that are home to over 1,800 species of plants from across the globe.
Two of the domes have permanent exhibits: a jungle plant exhibit and a desert plant exhibit. The other dome has seasonal exhibits that change 5 times a year.
The Mitchell Park Domes Horticulture Conservatory is open year-round and is a fun place for kids to explore, see, and learn about various plants from around the world.
12. Check Out the Milwaukee Public Museum
The Milwaukee Public Museum is a natural history museum full of interesting exhibits. You can explore the Arctic, a Costa Rican rainforest, step back in time to ancient Mediterranean civilizations, and so much more at this museum.
Some of the exhibits that kids will love seeing include the planetarium, a life-sized replica of a Tyrannosaurus rex, and the butterfly garden.
The Milwaukee Public Museum is open Wednesday to Monday from 10 am to 5 pm.
13. Visit the Grohmann Museum
The Grohmann Museum is one of Milwaukee’s best art museums. The main focus of the museum is on the art and history of labor, and it has a unique collection of industrial-themed paintings and sculptures.
While this museum may not be interesting for younger kids, it is worth visiting with older kids or teens who are interested in art, engineering, or the history of the Industrial Age.
The Grohmann Museum is located on the campus of the Milwaukee School of Engineering (MSOE). Admission to the museum is only $5 and you can get your tickets here.

Where to Stay in Milwaukee with Kids
Below are some of the best family-friendly places to stay in downtown Milwaukee.
Drury Plaza Hotel Downtown
Rating: 9.1/10 I ☑️ Book Here
This highly-rated hotel is the perfect place to stay in Milwaukee with kids. Rooms are spacious and modern, and there are cribs available on request for those traveling with little ones.
The hotel has a great location that is within walking distance of restaurants and is close to kid-friendly attractions like Discovery World and the Betty Brinn Children’s Museum.
The Pfister Hotel
Rating: 9.2/10 I ☑️ Book Here
The Pfister Hotel is a historic, Victorian-style hotel that is a unique place to stay in downtown Milwaukee. The 4-star hotel is beautifully decorated with several amenities including a spa, restaurant, fitness center, and an indoor pool.
The hotel has a few different options for room types, from standard to suite-style rooms. Some of the suite-style rooms can sleep up to 5 people which is ideal for families.
The Westin Milwaukee
Rating: 8.7/10 I ☑️ Book Here
The Westin Milwaukee is another good place to stay in Milwaukee. It features comfortable rooms, some of which have lake views. The hotel also offers free usage of bikes which is perfect for those who want to bike around the city.
The hotel is located in the heart of downtown, close to the historic Third Ward district. It is also just a short walk to the waterfront on Lake Michigan.

FAQ: Family-Friendly Activities in Milwaukee
There are many things to do with a toddler in Milwaukee. Some of the best activities include going to the Milwaukee Zoo to see the animals, visiting one of the beaches on Lake Michigan, or going to Discovery World or the Betty Brinn Children’s Museum which both have toddler play areas and activities.
There are many options for things to do downtown Milwaukee with kids, from seeing a baseball game at America Family Field to exploring one of the children’s museums like Discovery World. Other options include taking a kayak tour right through downtown Milwaukee or seeing all the different animals at Wisconsin’s largest zoo.
Conclusion: The Best Things to Do in Milwaukee with Kids
Milwaukee is a great family-friendly city to visit in Wisconsin because there are so many things to do in Milwaukee with kids. So, whether you are visiting with toddlers or teens there are sure to be plenty of activities for the whole family to enjoy. From interactive museums to outdoor adventures, Milwaukee offers something for every age.
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