16 kid-friendly museums around Milwaukee


From STEM-focused Discovery World right along Lake Michigan, to the lesser known Spinning Top and Yo-Yo Museum in Burlington, southeastern Wisconsin is home to more than a dozen kid-friendly museums. Read on to find your next adventure!

Betty Brinn Children’s Museum

929 E Wisconsin Ave, Milwaukee, WI 53202

(414) 390-5437

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Chudnow Museum of Yesteryear

839 N. 11th St., Milwaukee, WI 53233

(414) 273-1680




Dinosaur Discovery Museum (Free!)

5608 Tenth Ave., Kenosha, WI

(262) 653-4450 

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Tour the main gallery filled with impressive dinosaur skeletons that are casts of actual fossil bones. Head downstairs to dig for fossils, do dinosaur crafts, and peek into the on site laboratory. Admission is free! Check out our full review here.

Discovery World

500 N Harbor Dr, Milwaukee, WI 53202



Harley-Davidson Museum
400 W. Canal St., Milwaukee, WI 53201
1-877-HD-MUSEUM or 414-287-2789

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Milwaukee Art Museum

700 Art Museum Dr.

Milwaukee, WI 53202

(414) 224-3200

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Read our post: “8 Special Things To Do With Kids At The Art Museum

Milwaukee Fire Museum (Free!)

1615 W. Oklahoma Ave., Milwaukee, WI 53215

1st Sunday of each month (April – December, excluding holidays)
1:00 PM – 4:00 PM or by appointment

Free admission



The museum features a vintage bunk room, alarm area and fire officers office. It is one of five fire stations of this style built in 1927. The museum houses the first department ambulance, a 1947 Cadillac, plus two trucks built in the Milwaukee Fire Department Shop during the 1920’s and 30’s. The building also has a dormitory style bunk-room, a vintage kitchen, locker room, and hose tower. 

Milwaukee Public Museum

800 W Wells St., Milwaukee, WI 53233

(414) 278-2728

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Mitchell Gallery of Flight (Free!)

5300 S. Howell Ave., Milwaukee, WI 53207

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If you find yourself at the airport with some time to spend, stop by the Mitchell Gallery of Flight, where you’ll find aviation models and memorabilia, as well as educational information about planes and pilots.

Model Railroad Club of Milwaukee Inc.

15 E. National Ave. (built into a Canadian Pacific Railway bridge that spans the street)


Museum of Quilts and Fiber Arts

N50 W5050 Portland Rd, Cedarburg, WI 53012

(262) 546-0300


Museum of Wisconsin Art

205 Veterans Ave., West Bend, WI



National Bobblehead Museum

170 S. 1st St.
2nd Floor
Milwaukee, WI 53204

North Point Lighthouse

2650 N Wahl Ave., Milwaukee, WI 53211
(414) 332-6754

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Old World Wisconsin

W372 S9727 WI-67, Eagle, WI 53119



Pabst Mansion

2000 W. Wisconsin Ave., Milwaukee, WI 53233
(414) 931-0808

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Spinning Top & Yo-Yo Museum

533 Milwaukee Ave., Burlington, WI 53105
(262) 763-3946

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Waukesha County Museum

101 W. Main St., Waukesha, WI 53186
(262) 521-2859

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Wisconsin Automotive Museum

147 N. Rural St.

Hartford, WI 53027

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Outdoor Museums

Kid-friendly Art Museums & Galleries

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