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Fresh air, curious kids, and beautiful trails — what more could you ask for?
If you’re looking for a great way to get outside with your family, this guide is for you. Whether you’ve got toddlers in tow or active older kids, these hiking spots around Milwaukee are all:
- Easy enough for little legs
- Beautiful enough to impress adults
- Packed with nature play, wildlife, and scenic views
From stroller-friendly loops to forested trails and Lake Michigan views, you’ll find something for every season.
👣 Related:
- Stroller-Friendly Hikes Near Milwaukee
- 5 Waterfalls Worth the Walk
- Top Spots for Fall Foliage in SE Wisconsin
Best Hikes Near Milwaukee – Interactive Map
Planning your next hike? Use this interactive map to find the best hikes near Milwaukee. Click on each pin for details like location, website, and family-friendly features.
We also have an interactive Milwaukee Fun Map where you can search apple orchards, haunted trails, and more by location.
Best Hikes Around Milwaukee – Full List
1. Lakeshore State Park
📍 500 N. Harbor Dr., Milwaukee, WI 53202
City skyline + lake views
🛝 Close to playgrounds, Discovery World, and Summerfest grounds
👣 Flat, paved trails perfect for strollers, scooters, and toddlers
🌊 Bonus: There’s a small beach and access to the Hank Aaron State Trail, plus it’s close to Northwestern Mutual Community Park.
2. Schlitz Audubon Nature Center
📍 1111 E. Brown Deer Rd., Bayside, WI 53217
Turtles, frogs, and a 60-foot tower
🛝 Hands-on exhibits and year-round family programs
👣 6 miles of trails through forest, wetland, prairie + accessible boardwalk
🌊 Don’t miss: Mystery Lake and Lake Michigan shoreline trail
3. Lake Park
📍 2975 N. Lake Park Rd., Milwaukee, WI 53211
Designed by the creator of Central Park
🛝 Multiple playgrounds + bathrooms available
👣 Paved paths, bridges, statues, and even a waterfall
📸 Snap a photo at the North Point Lighthouse
4. Wehr Nature Center
📍 9701 W. College Ave., Franklin, WI 53132
Nature play space + waterfall + wildlife galore
🛝 Visitor center with fish tank, puzzles, and nature displays
👣 4+ miles of trails through lake, wetland, and forest; ADA boardwalk
🎒 Great for tots to teens; nature programs offered year-round
5. Retzer Nature Center
📍 S14 W28167 Madison St., Waukesha, WI 53188
STEM play along the trail
🛝 Indoor Discovery Center and family-friendly restrooms
👣 Discovery Trail is stroller-accessible with sensory & learning stations
🌿 Also features prairie, woods, and open fields
6. Lapham Peak – Kettle Moraine State Forest
📍 W329 N846 County Trunk Hwy C, Delafield, WI 53018
Climb to the highest point in Waukesha County
🛝 Hausman Nature Center nearby for pre- or post-hike fun
👣 Start on the Plantation Path trail (stroller-accessible) to reach the 45-foot tower with panoramic views
🎫 State park vehicle admission sticker required
7. Holy Hill
📍 1525 Carmel Road, Hubertus, WI 53033
Breathtaking views + a historic church tower
🛝 No playground, but open lawns for exploring
👣 Forest paths lead uphill to the basilica; stairs to the scenic tower
🍁 Best in fall — golden leaves make it extra magical
8. Conservancy for Healing and Heritage
📍 7410 W. Rawson Ave., Franklin, WI 53132
Peaceful trails, lake views, and a stunning healing chapel
🛝 Sensory garden and chapel open to visitors
👣 Under 1 mile of woodland and wetland trails; benches and lake overlooks
🌿 A quiet, reflective setting — great for peaceful walks with older kids
9. Doctors Park
📍 1870 E. Fox Ln., Fox Point, WI 53217
Tree-lined trail to uncrowded beach
🛝 Playground and bathrooms near the lot
👣 Trail heads downhill to the beach; prepare for the climb back up!
🔗 Bonus: Schlitz Audubon Nature Center is next door
10. Havenwoods State Forest
📍 6141 N. Hopkins St., Milwaukee, WI 53209
Milwaukee’s only state forest — 237 acres!
🛝 Nature Center and small garden area
👣 Mostly flat trails through prairie, forest, and wetland; bridge is < ½ mile away
🧭 Best for unstructured nature wandering
11. Hawthorn Glen
📍 1130 N. 60th St., Milwaukee, WI 53208
Loop trail with stairs and a fun hill to roll down
🛝 Playground, sandbox, and interpretive signs
👣 Perfect for preschoolers and early walkers
🎒 Great spot for an hour-long nature break
12. Hubbard Park
📍 3565 N. Morris Blvd., Shorewood, WI 53211
Riverside trails + a tunnel kids will love
🛝 Bathrooms and beer garden nearby
👣 Oak Leaf Trail access; mix of paved and unpaved trails
🔦 Enter through the tunnel off Menlo Blvd — a hit with kids!
13. Kohler-Andrae State Park
📍 1020 Beach Park Ln., Sheboygan, WI 53081
Dunes, lake views, and wildlife
🛝 Nature center and shaded picnic areas
👣 Several stroller-friendly trails; boardwalks and beach paths
🎫 Vehicle admission sticker required
14. Lion’s Den Gorge Nature Preserve
📍 511 High Bluff Dr., Grafton, WI 53024
Unmatched lake views from the bluffs
🛝 Picnic areas and restrooms
👣 Boardwalks and dirt trails; not ideal for strollers on bluff section
⚠️ Use caution near cliff edges; baby carriers recommended for young kids
15. Lynden Sculpture Garden
📍 2145 W. Brown Deer Rd., Milwaukee, WI 53217
Art meets nature on 40 scenic acres
🛝 Open lawns to run around; restrooms in visitor center
👣 Easy walking paths; best for ages 3+
🎨 Explore 50+ sculptures (no climbing allowed)
16. Mequon Nature Preserve
📍 8200 W. County Line Rd., Mequon, WI 53097
Choose-your-own-adventure hiking
🛝 Nature play area + interactive education center
👣 5 miles of trails; observation tower and wetlands
🔭 Bring binoculars for bird spotting from the platform
17. Urban Ecology Center + Rotary Arboretum (Riverside Park)
📍 1500 E. Riverside Pl., Milwaukee, WI 53211
Trees, trails, and science play
🛝 Habitat play garden with spider web and sandbox
👣 Easy trails plus the “Walk of 3 Billion Years” geological path
🔗 Great place to learn while you hike
18. Seven Bridges Trail (Grant Park)
📍 100 Hawthorne Ave., South Milwaukee, WI 53172
Milwaukee’s most enchanted forest walk
🛝 Nearby playgrounds and beach access
👣 Half-mile loop with stone bridges, staircases, and shady trees
🧚♀️ Great for storytelling and pretend play!
19. Riveredge Nature Center
📍 4458 County Hwy Y, Saukville, WI 53080
Forests, ponds, and 10 miles of quiet trails
🛝 Nature play zone + family programs
👣 Trails range from short loops to longer wanders; some uneven terrain
🌳 Known for maple sugaring and sturgeon conservation
20. Stigler Nature Preserve
📍 17400 W. Liberty Ln., New Berlin, WI 53146
Peaceful trail loop tucked away in a business park
🛝 No restrooms or playground
👣 1-mile trail with bridges and a shallow creek; wood chip paths
🦟 Bring bug spray after a rain!
21. Forest Exploration Center
📍 1800 Forest Exploration Dr., Wauwatosa, WI 53226
One-mile loop with hands-on learning signs
🛝 No playground, but lots to explore
👣 Fully accessible loop; stroller- and wheelchair-friendly
🔁 Signs are double-sided — walk clockwise, then back for more!
22. Alice Bertschy Kadish Park (Kilbourn Reservoir Park)
📍 750 E. North Ave., Milwaukee, WI 53212
Best skyline view in the city
🛝 Open green space for play
👣 Short, paved loop + stairs from North Ave.
📸 Perfect for sunsets and skyline selfies
23. Kettle Moraine State Forest – Pike Lake Unit
📍 3544 Kettle Moraine Rd., Hartford, WI 53086
Climb to Powder Hill for big views
🛝 Bathrooms, parking, and shaded picnic spots
👣 Several trail options, including a segment of the Ice Age Trail
🎫 State park vehicle admission sticker required
24. Parnell Tower – Kettle Moraine State Forest
📍 W7876 County Road U, Plymouth, WI 53073
Highest elevation + a 60-foot observation tower
🛝 Picnic area near trailhead
👣 3.5-mile loop trail; first section leads straight to the tower
🎫 Vehicle admission required; parking lot closed in winter
25. Scout Lake
📍 5902 W. Loomis Rd., Greendale, WI
Quiet lake loop hidden in plain sight
🛝 Playground + paved trail great for scooters or strollers
👣 Flat loop around the lake with lots of wildlife
🦆 Ducks, turtles, and peaceful scenery year-round
More Ideas:
Bender Park
📍 4503 E. Ryan Rd., Oak Creek, WI 53154
Peaceful lakeside loop trail + beach access
Beautiful lake views, plus a small beach and walkable pier in warmer months
👣 Short, flat trail perfect for little legs and strollers
📸 Tip: Come early for sunrise over the lake
Fox River Trail & Downtown Riverwalk (Waukesha — “Three Bears”)
📍 Downtown Waukesha, connecting along the Fox River to Fox River Park
🐻 Spot the “Life Lessons” bronze sculpture: a grandmother bear and two cubs, inspired by a Native American tale, right beside the paved Riverwalk trail.
🛝 A great playground and picnic areas are tucked in Frame Park – plus bathrooms.
👣 Easy, mostly flat walking trail; paved Riverwalk transitions into the longer Fox River Trail south through wooded wetlands and marsh boardwalks.
Lannon Quarry / Bugline Trail
📍N72W25201 Good Hope Rd, Sussex, WI 53089
Quarry views and a smooth, shady path
🛝 No playground, but nearby parks along the trail
👣 Paved multi-use trail, stroller-friendly, great for scooters and bikes
🪨 Walk past old quarries with peeks of turquoise water
With so many trails, nature centers, and scenic spots in and around Milwaukee, it’s easy to find a walk that works for your family.
Whether you’re looking for a quick nature break or a full afternoon outside, these destinations offer a great way to explore the outdoors together.
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Calie Herbst, Editor-in-Chief of Milwaukee With Kids, has spent over a decade combining her experiences as a parent of three to create a hub for Milwaukee’s family adventures.
Her decade-long teaching career in Milwaukee Public Schools and academic background, including a Master’s in Teaching from Marquette University and dual B.A.s in Sociology and Spanish from the University of Wisconsin – Madison, fuel her passion for inclusive and engaging family content.
Calie is also a recognized voice in local media, contributing to WISN Channel 12 News, WTMJ Wisconsin Morning News, Fox 6’s Real Milwaukee, and B93.3.
Discover more about Calie’s journey and editorial approach on her About Page and Editorial Policy Page.
