9 Kid Friendly Activities To Do in Milwaukee, Wisconsin

This post may contain affiliate links, which means I’ll receive a commission if you purchase through my link, at no extra cost to you. Please read full disclosure here.

Milwaukee is located along the breathtaking western shore of Lake Michigan in Wisconsin. With a population of almost 600,000, Milwaukee is known for its historic breweries, the birthplace of Harley Davidson and the home of many public museums. There are several family friendly activities to do while visiting the great city of Milwaukee that the entire family will love!

Here are my top 9 favorite activities to do when visiting the city!

Looking for more travel destinations with kids? Check out these trips!

1. Milwaukee County Zoo

10001 W Bluemound Rd, Milwaukee, WI 53226
Website

What’s not to love about visiting a zoo? The Milwaukee County Zoo spans over 190 acres and is home to more than 2,200+ animals representing 330 species. With indoor and outdoor animal exhibits, rides and attractions and educational programs, the zoo is always a must see destination when visiting Milwaukee. My favorite exhibits are the bears!

2. Discovery World Children’s Hands-On Museum

500 N Harbor Dr, Milwaukee, WI 53202
Website

Love science and learning about how things work? This is the museum for you! There are dozens of hands-on exhibits that kids and adults can experiment with! This is absolutely one of the best children’s museums we have ever been to. The exhibits are clean and well maintained as well as actually being fun and engaging! Be sure to visit the aquarium section and pet the tank animals! Discovery World is located right on Lake Michigan and has a beautiful outdoor boardwalk as well. Be sure to include enough time in your visit to explore outside! The views are spectacular!

3. American Family Field (formerly Miller Park) – Milwaukee Brewer’s Stadium

1 Brewers Way, Milwaukee, WI 53214
Website

It’s always fun to catch a major league baseball game…especially when the stadium can be turned into an indoor stadium if the weather is permitting! Stick around after the game and let the kiddos run the bases!

Milwaukee Brewer's Indoor Baseball Stadium

4. Afternoon Tea at the Pfister Hotel

424 E Wisconsin Ave, Milwaukee, WI 53202
Website

One of my most favorite things I’ve done with my daughter! Who doesn’t love to get dressed up and be royal for a bit! You can read all about our trip HERE! Be sure to call ahead and make your reservation as the spots tend to fill up quickly!

Afternoon Tea @ The Pfister Hotel, Milwaukee, WI

5. Milwaukee Wave Professional Indoor Soccer Game

7044 S Ballpark Dr, Franklin, WI 53132
Website

Enjoy a game of professional indoor soccer at the UWMilwaukee Panther Arena. Wear a jersey to the game and hang around around after the game to get it signed by the players!…don’t forget to bring a permanent marker as well!

6. Indoor Rock Climbing

2220 N Commerce St, Milwaukee, WI 53212
Website

Enjoy an adventure filled day at Adventure Rock climbing their various rock climbing walls! There are varying degrees of walls to climb depending on skill level as well as bouldering opportunities.

7. Milwaukee Public Museum

800 West Wells Street, Milwaukee, WI 53233
Website

This is actually a super neat museum. It has something for everyone…even those of us who aren’t that “into” museums! Enjoy looking at dinosaur bones to habitats of the various landscapes of America to a replication of the streets of Old Milwaukee and European Village. Of course, my favorite exhibit was the houses and buildings in the Old Milwaukee section! I am a sucker for Victorian homes, like mine!

8. Pabst Brewery Tour

917 W Juneau Ave, Milwaukee, WI 53233
Website

Wisconsin is known for its beer and cheese! So stopping to see this iconic, historical building is a must. My family went on a road trip to Wisconsin when I was a kid and we took a tour of the Pabst Brewery with some family friends. I distinctly remember the trip, probably because I was with a friend, and found it really interesting seeing all of the large machinery!

After the tour, adults can purchase a beverage while kiddos drink their choice of pop. Here’s a cute throwback from 1995! Yep! That’s me rocking the big poufy bangs and colorful tracksuit! ?

9. Harley Davidson Museum

400 W Canal St, Milwaukee, WI 53201
Website

Of all of the places to see in Milwaukee, one would have thought that the Harley Davidson Museum would have been one of the very first places my family would have visited because we own a Harley and sidecar. My husband grew up in this very sidecar and traveled to 49 states and all of Canada. However, none of us have been to the HD museum! So…take this suggestion as you wish. I’ve heard it’s a fun place to visit!