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Things to Do in Milwaukee with Kids
Milwaukee is an easy, friendly city for families: a lakefront with beaches and parks, a science museum on the water, a big zoo and a riverwalk lined with fun statues. This guide is organized by area, with parent tips from our local guides and free picks flagged.
Our Downtown Donuts and Sweet Treats Tour is a tasty way to start a family day in the city.
By the Underground Donut Tour team · Updated November 2026
At a glance
- Free favorites: The Milwaukee Riverwalk, Lakeshore State Park, Bradford Beach, the Milwaukee Art Museum's wings opening and closing, the Milwaukee Public Market
- Rainy day picks: Discovery World, Milwaukee Public Museum, Harley-Davidson Museum
- Sweet treat: Our Milwaukee donut tour welcomes kids 2 and up, with kids' tickets from $55
Kid-friendly things to do in Milwaukee, by neighborhood
Downtown and the Riverwalk
Milwaukee Riverwalk
FreeA walkway along the river with public art, bridges and places to stop for snacks.
Milwaukee Public Museum
Rainy day pickDinosaurs, a rainforest, a butterfly vivarium and the Streets of Old Milwaukee.
Parent tip: Look for the Bronze Fonz on the Riverwalk. Kids love a photo with him.
The lakefront
Discovery World
Rainy day pickA science and technology museum with aquariums, right on Lake Michigan.
Milwaukee Art Museum
Kids love the giant moving wings on the building, and the museum has family art activities.
Lakeshore State Park
FreeA lakefront park with paths and harbor views, next to Discovery World.
Bradford Beach
FreeMilwaukee's favorite beach, busy and fun in summer.
Parent tip: The Art Museum's wings open in the morning and close in the evening. Time your visit to watch them move.
Around town
Sweet treats and kid-friendly eats
Underground Donut Tour (kids' tickets from $55, ages 2 and up). Our Downtown Donuts and Sweet Treats Tour walks the heart of the city with stops for donuts and local sweets, plus stories about Milwaukee along the way. Guides set the pace around your group, which makes it easy with kids.
Taste Milwaukee's best donuts on one walk
Kids 2 and up are welcome. Guides set an easy pace for little legs.
Parent tip: Let us know about allergies or dietary needs when you book, and download our free Kids' Activity Book for the trip.
Exploring on your own? Our Best Donut Shops in Milwaukee guide lists the city's best donut shops by neighborhood, and Best Holiday Donuts in Milwaukee covers the festive specials.
Sample days
Day 1: Downtown
- Morning: donut and sweet treats tour.
- Walk the Riverwalk and find the Bronze Fonz.
- Lunch at the Public Market.
- Milwaukee Public Museum.
Day 2: Lakefront
- Discovery World when it opens.
- Lakeshore State Park.
- Milwaukee Art Museum and its moving wings.
- Bradford Beach in warm months.
Day 3: Animals and engines
- Milwaukee County Zoo.
- Lunch.
- Harley-Davidson Museum.
- Dinner downtown.
Milwaukee with kids by season
Holidays
- Milwaukee Holiday Lights Festival: downtown parks and streets light up for the season.
- Zoo Lights at the Milwaukee County Zoo: a lights display on winter evenings.
- Holiday Folk Fair International: food, music and dance from around the world in November.
- For seasonal treats, see Best Holiday Donuts in Milwaukee.
The rest of the year
- Spring: the lakefront wakes up, and the zoo is quieter.
- Summer: festival season, beach days and lakefront fun.
- Fall: crisp days on the Riverwalk and pumpkin patches nearby.
- Winter: cozy museums, Discovery World and holiday lights downtown.
Milwaukee with kids FAQ
Is the Milwaukee donut tour good for kids?
Yes. Kids 2 and up are welcome, the route is an easy downtown walk, and kids' tickets start at $55.
What are free things to do in Milwaukee with kids?
The Riverwalk, Lakeshore State Park, Bradford Beach, the Public Market and watching the Art Museum's wings open and close.
Where is the Bronze Fonz?
On the Milwaukee Riverwalk downtown, a quick stop for a family photo.
What's a good rainy-day plan?
Discovery World, the Milwaukee Public Museum or the Harley-Davidson Museum.