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Looking for the best children’s museum in Milwaukee?
The Betty Brinn Children’s Museum is Milwaukee’s only museum designed specifically for young kids, offering hands-on exhibits, imaginative play, and early learning experiences.
This guide also includes the best kid-friendly museums across Milwaukee and nearby suburbs, from science and history museums to quirky, hands-on spots families love.
From well-loved favorites like Milwaukee Public Museum to unique finds like the National Bobblehead Hall of Fame and the Harley-Davidson Museum, there’s no shortage of places for little explorers to discover.
Want to save on admission? Take advantage of discounted admission during Milwaukee Museum Days and be sure to check out all the free admission days around Milwaukee throughout the year.
Quick Picks: Best Museums for Kids in Milwaukee
- Best children’s museum: Betty Brinn Children’s Museum (Downtown Milwaukee)
- Best science museum: Discovery World (Milwaukee lakefront)
- Best history museum: Milwaukee Public Museum
- Best art museum for kids: Milwaukee Art Museum
- Best motorcycle museum: Harley-Davidson Museum (Milwaukee)
- Best free museum: Milwaukee Fire Museum (Milwaukee)
- Best quirky museum: National Bobblehead Hall of Fame & Museum (Milwaukee)
Children’s & Hands-On Museums
Betty Brinn Children’s Museum
📍 929 E. Wisconsin Ave., Milwaukee, WI 53202
Designed just for kids, Betty Brinn Children’s Museum is all about hands-on learning through play. Interactive exhibits like Home Sweet Home, Let’s Play Railway, and Science CITY help kids explore real-world concepts in a fun way. For little ones under four, Pocket Park offers a safe space for early learning. Plus, the Be A Maker space lets kids dive into creative projects and STEM activities.
💡 Pro Tip: Get free admission on Community Access Days, held every third Thursday of the month! (Advance registration required; some restrictions apply.)
Looking for details on hours, parking, ticket prices, and what to expect with kids?
→ Full guide to the Betty Brinn Children’s Museum
Discovery World
📍 500 N. Harbor Dr., Milwaukee, WI 53202
Perched on the shores of Lake Michigan, Discovery World is a must-visit for young scientists and inventors. Ideal for kids ages 3-12, this interactive science and technology museum offers hands-on fun with robotics, engineering, and marine life exhibits.
Planning a visit with kids?
→ What families should know before visiting Discovery World
💡Want even more hands-on learning? We rounded up Milwaukee’s top STEM programs and events for kids, including classes at MSOE, workshops at Discovery World, and more.
Milwaukee Fire Museum (Free!)
📍 1615 W. Oklahoma Ave., Milwaukee, WI 53215
Housed in a historic 1927 fire station, the Milwaukee Fire Museum is a hidden gem that offers a behind-the-scenes look at firefighting history.
Must-See Exhibits:
- Vintage Fire Trucks – Including a 1947 Cadillac ambulance.
- Firefighter’s Bunk Room – See how fire crews lived on duty.
- Alarm Room & Fire Chief’s Office – Featuring original equipment and artifacts.
Want hours, open dates, and what to expect for kids?
→ Complete guide to visiting the Milwaukee Fire Museum
💡 Pro Tip: The museum is only open on the first Sunday of the month (April–December), so plan your visit accordingly!
Dinosaur Discovery Museum (Free!)
📍 5608 10th Ave., Kenosha, WI 53140
Just a short drive from Milwaukee, the Dinosaur Discovery Museum is the only museum in the world focused exclusively on the evolutionary link between meat-eating dinosaurs and modern birds. The main gallery features full-size dinosaur skeletons, cast from real fossil bones.
Must-See Exhibits:
- Dinosaur Dig – Head downstairs for hands-on fossil digging and dinosaur crafts.
- Laboratory Peek – Watch paleontologists in action in the on-site research lab.
Planning a trip with dinosaur-loving kids?
→ What families should know before visiting the Dinosaur Discovery Museum
💡 Pro Tip: Admission is free, with a suggested donation of $3 per person. Plan a full day trip from Milwaukee for a dino-filled adventure!
History, Culture & Local Heritage Museums
Milwaukee Public Museum
📍 800 W. Wells St., Milwaukee, WI 53233
A true Milwaukee treasure, Milwaukee Public Museum (MPM) takes families on a journey through time and across cultures. Walk through life-size dioramas, explore a recreated European village, meet dinosaurs, step into a tropical rainforest, and experience the magic of a live butterfly garden. The Daniel M. Soref Dome Theater & Planetarium adds even more excitement with stunning space and nature shows.
Pro Tip: Want butterflies to land on you in the Puelicher Butterfly Wing? Wear red or orange!
Fun Challenge: There are three hidden buttons throughout the museum—can you find them all?
Planning a visit?
→ What families should know before visiting the Milwaukee Public Museum
Harley-Davidson Museum
📍 400 W. Canal St., Milwaukee, WI 53203
When you think of the Harley-Davidson Museum, you probably picture roaring engines, legendary motorcycles, and a deep dive into motorcycle history. But what you might not expect is how kid-friendly this museum really is! Whether your child is a toddler, teen, or somewhere in between, there are plenty of hands-on activities to keep them engaged.
Must-See Exhibits:
- Experience Gallery – Hop on a real Harley and snap a picture in the driver’s seat.
- Engine Room – Hear and feel the rumble of different Harley engines at the push of a button.
- Build-A-Bike Station – Let creativity take the wheel as kids design their own custom motorcycle.
- Outdoor Fun – The museum campus has wide-open spaces, a riverwalk, and a family-friendly restaurant with a great patio.
💡 Pro Tip: Kids 5 and under get in free every day! Plus, check the museum’s schedule for special family-friendly events throughout the year.
Want details on hours, tickets, parking, and kid-friendly highlights?
→ Complete guide to visiting the Harley-Davidson Museum with kids
North Point Lighthouse
📍 2650 N. Wahl Ave., Milwaukee, WI 53211
Step into Milwaukee’s maritime history at the North Point Lighthouse, where kids can learn about legendary shipwrecks, lighthouse keepers, and Great Lakes navigation. The recently renovated museum is packed with fascinating artifacts, and if your little adventurers are up for a climb, the 74-foot tower offers some of the best views in the city!
Must-See Exhibits:
- Lighthouse Museum – Discover artifacts from old ships and hear stories about the quirky keepers who once maintained the light.
- Tower Climb – Get a 360° panoramic view of Lake Park, Lake Michigan, and downtown Milwaukee. (Kids must be at least 38 inches tall to climb!)
- Lake Park Exploration – The lighthouse sits on a scenic, semi-wooded two-acre parcel—perfect for a family stroll or picnic.
Want to know tower climb requirements, hours, and seasonal tips?
→ What families should know before visiting North Point Lighthouse
💡 Pro Tip: Visit in the fall for stunning autumn colors, and ask for a certificate for climbing the tower!
Pabst Mansion
📍 2000 W. Wisconsin Ave., Milwaukee, WI 53233
Step back in time to Milwaukee’s Gilded Age at the Pabst Mansion, a beautifully preserved architectural gem built in the 1890s for beer baron Captain Frederick Pabst and his family. Once home to Milwaukee’s archbishop, this grand estate was nearly lost to demolition in the 1970s but was saved by dedicated preservation efforts. Today, it stands as an award-winning museum showcasing stunning craftsmanship, original furnishings, and a glimpse into Milwaukee’s opulent past.
Visiting with Kids?
- Join the family-friendly Saturday morning tour, a shorter, engaging experience designed with young visitors in mind.
- Bonus: Kids get in free on these tours, making it a great budget-friendly way to explore a piece of Milwaukee history!
Planning a family visit or Saturday morning tour?
→ Complete guide to visiting the Pabst Mansion with kids
Model Railroad Club of Milwaukee Inc.
📍 215 E. National Ave., Milwaukee, WI 53204
(built into a Canadian Pacific Railway bridge that spans the street)
Tucked inside a 1916 railway bridge station, the Model Railroad Club of Milwaukee is the longest-running model railroad club in the same location in the U.S.! Train enthusiasts will love the detailed, 1/4-inch scale model trains, some dating back to pre-WWII.
Must-See Exhibits:
- Vintage Train Displays – Featuring historic Milwaukee train routes.
- Preserved 1916 Station Interior – Subway tiles, tin ceilings, and original fixtures.
Want open dates, age tips, and what you’ll see inside the bridge station?
→ What families should know before visiting the Model Railroad Club of Milwaukee
💡 Pro Tip: The club is only open on the last Sunday of each month from 1-3 PM, so call ahead to confirm!
Milwaukee County Historical Society
📍 910 N. Old World 3rd St., Milwaukee, WI 53203
Housed in a stunning historic bank building along the Milwaukee River, the Milwaukee County Historical Society (MCHS) is the city’s hub for uncovering local history. Founded in 1935, the museum brings Milwaukee’s past to life through interactive exhibits, hands-on education programs, and a vast collection of artifacts, photographs, and documents.
Must-See Highlights:
- Explore Milwaukee’s history through exhibits on brewing, industry, and immigration.
- Visit the research library to dive into old newspapers, maps, and family genealogy records.
- Check out artifacts from the city’s past—MCHS preserves more than 60,000 objects and one million historical documents and photos!
💡 Fun Fact: The museum sits right next to Pere Marquette Park, making it easy to pair with a family stroll along the riverfront.
Cedarburg History Museum (Free!)
📍 N58W6194 Columbia Rd, Cedarburg, WI 53012
Located in the historic Hilgen & Schroeder Mill Store, the Cedarburg History Museum offers a fascinating look at the town’s past. Visitors can explore the General Store Museum, rotating exhibits, and interactive displays, all housed in a beautifully preserved 19th-century building.
💡 Pro Tip: Admission is free, but donations are appreciated. Make a day of it by following our Cedarburg Day Trip itinerary!
Exploring on a budget? Check out more free museums around Milwaukee.
Mitchell Gallery of Flight (FREE)
📍 5300 S. Howell Ave., Milwaukee, WI 53207
If your kids love planes and aviation, the Mitchell Gallery of Flight inside Mitchell International Airport is a must-visit. Explore aircraft models, historic memorabilia, and exhibits on Wisconsin’s aviation pioneers.
✈️ Pro Tip: After exploring, visit Milwaukee’s Airplane Observation Area nearby to watch real planes take off and land!
Waukesha County Historical Society & Museum
📍 101 W. Main St., Waukesha, WI 53186
Founded in 1914, the Waukesha County Historical Society & Museum dives into Waukesha’s Native American roots, pioneer life, and famous residents—including Les Paul, the father of the electric guitar.
Must-See Highlights:
- Hands-On Kids’ Activities – Offered throughout the year.
- Les Paul Exhibit – Showcasing instruments and memorabilia.
💡 Pro Tip: Pair your visit with a stroll through downtown Waukesha and a visit to Frame Park with its recently revamped playground and scenic surroundings.
Art, Design & Creativity Museums
Milwaukee Art Museum
📍 700 N. Art Museum Dr., Milwaukee, WI 53202
With its iconic Quadracci Pavilion and breathtaking lakefront setting, the Milwaukee Art Museum isn’t just for art lovers—it’s a fantastic spot for families, too! Kids can explore vibrant galleries, participate in hands-on activities, and enjoy the thrill of watching the museum’s massive wings open and close.
Must-Do Experiences for Kids:
- Kohl’s Art Generation Studio – A hands-on space where kids can create their own masterpieces (check for open hours).
- Family-Friendly Exhibits – Bright, engaging art pieces that spark creativity and curiosity.
- Windover Hall – A great spot to let little ones marvel at the museum’s stunning architecture.
- Free Admission for Kids – Children 12 and under get in free every day!
Looking for kid-friendly tips, free days, and must-see spaces for families?
→ Complete guide to visiting the Milwaukee Art Museum with kids
💡 Pro Tip: Be there at 10 AM, noon, or 5 PM to watch the museum’s “wings” (the Burke Brise Soleil) open and close—a sight that never gets old!
Latino Arts, Inc.
📍 1028 S. 9th St., Milwaukee, WI 53204
Located in Walker’s Point, Latino Arts, Inc. is Wisconsin’s only fine arts institution dedicated exclusively to Hispanic and Latinx artists. Families can enjoy interactive art exhibits, live music, and cultural festivals that celebrate Latin American heritage.
Family-Friendly Highlights:
- Bilingual Art Workshops – Hands-on projects for kids and families.
- Annual Día de los Muertos Exhibit – A stunning display of traditional altars and artwork.
- Live Performances – Catch a mariachi concert or a storytelling event.
💡 Pro Tip: Check their website for low-cost arts programming and community events!
Wisconsin Museum of Quilts and Fiber Arts
📍 N50 W5050 Portland Rd, Cedarburg, WI 53012
Just outside downtown Cedarburg, the Wisconsin Museum of Quilts and Fiber Arts celebrates quilts, textiles, and fiber arts. Families can enjoy interactive exhibits, hands-on workshops, and seasonal events.
Family Fun Highlights:
- Summer Camps – Creative textile programs for kids.
- Hands-On Weaving & Quilting Activities – Offered on select weekends.
💡 Pro Tip: Check their website for Family Fun Days throughout the year!.
Museum of Wisconsin Art
📍 205 Veterans Ave., West Bend, WI 53095
A testament to Wisconsin’s rich artistic heritage, the Museum of Wisconsin Art (MOWA) is dedicated exclusively to showcasing the work of local artists. Its 32,000-square-foot modern facility sits along the picturesque west bend of the Milwaukee River, with expansive windows that flood the space with natural light, making the art feel even more alive.
Must-See Features:
- 5,000+ Contemporary & Historic Works – By more than 350 Wisconsin artists.
- Studio Saturdays – Weekly hands-on art projects designed for kids and families.
- Art & Chalk Festival – A July favorite featuring live entertainment, kids’ activities, and stunning sidewalk chalk art.
Looking for family days, kids’ programs, and visit tips?
→ Complete guide to visiting the Museum of Wisconsin Art with kids
💡 Pro Tip: Looking for a full day of fun? Pair your museum visit with our West Bend Day Trip Guide for more family-friendly activities!
Quirky, Offbeat & Just-for-Fun Museums
The SafeHouse
📍 779 N. Front St., Milwaukee, WI 53202
Equal parts restaurant and interactive spy museum, The SafeHouse is one of Milwaukee’s most unique dining experiences. Disguised behind an unmarked entrance, this secret-agent hideout immerses guests in an espionage adventure from the moment they arrive. Don’t know the password? Be ready to complete a clearance test to gain access!
Must-Do Experiences for Kids:
- Junior Spy Scavenger Hunt – Pick one up at the hostess desk to keep little agents entertained.
- Secret Doors & Hidden Passages – Explore interactive spy gadgets throughout the restaurant.
- The Disappearing Booth – Ask to sit at this table for a magical dining surprise!
- Spy Memorabilia – Spot real artifacts, including a piece of the Berlin Wall.
💡 Pro Tip: Visit before 8:00 PM for a family-friendly experience—after that, the vibe shifts to a more adult crowd.
Curious about passwords, scavenger hunts, and the best time to visit with kids?
→ What families should know before visiting The SafeHouse
Looking for more family-friendly dining? Check out our list of the Best Kid-Friendly Restaurants Around Milwaukee for even more great spots!
National Bobblehead Hall Of Fame & Museum
📍 170 S. 1st St., 2nd Floor, Milwaukee, WI 53204
If your kids love collectibles—or just a little bit of wacky fun—the National Bobblehead Hall of Fame & Museum is a must-visit! Home to the world’s largest collection of bobbleheads, this one-of-a-kind museum features thousands of figures from sports, movies, politics, and pop culture.
Must-Do Experiences for Kids:
- Scavenger Hunt – Keep little ones engaged by searching for special bobbleheads hidden throughout the museum. There are a couple of different options for various ages.
- Photo Ops – Snap a pic with life-sized bobbleheads of famous figures.
Looking for scavenger hunts, admission info, and visit tips?
→ What families should know before visiting the National Bobblehead Hall of Fame
💡 Pro Tip: Don’t miss the penny press machine where you can turn your pennies into one of three unique souvenir pennies.
Redner’s Rescued Cat Figurine Mewseum
📍 N88W15114 Cleveland Ave, Menomonee Falls, WI 53051
Run by a couple with a passion for felines, Redner’s Rescued Cat Figurine Museum is a nonprofit collection is not just about adorable collectibles—it’s also a mission-driven space where all entry fees support local cat shelters and rescue organizations.
Must-See Highlights:
- Thousands of cat figurines in every shape, size, and style.
- A heartwarming mission—every visit helps real rescue cats in need.
- No appointment needed on the 3rd Sunday of the month—just drop in!
💡 Pro Tip: If you’re into offbeat, ultra-niche attractions, this might be for you. Just be prepared for the fact that, yes, you are literally walking into someone’s home to look at their extensive cat figurine collection.
Spinning Top & Yo-Yo Museum
📍 533 Milwaukee Ave., Burlington, WI 53105
For a whimsical, hands-on experience, the Spinning Top & Yo-Yo Museum is a fun stop in Burlington. With over 2,000 tops, yo-yos, and gyroscopes, it’s a quirky destination.
Must-See Attractions:
- I Spy Hunt – A scavenger-style search among the collections.
- Live Demonstrations – Featuring expert yo-yo tricks!
💡 Pro Tip: Reservations are required, so call ahead before visiting!
Wisconsin Automotive Museum
📍 147 N. Rural St., Hartford, WI 53027
The Wisconsin Automotive Museum is Wisconsin’s largest auto museum is packed with vintage cars, classic motorcycles, and railroad artifacts.
Must-See Features:
- Rotating Car Exhibits – Featuring historic vehicles.
- 1913 #1003 Soo Line Steam Locomotive – A massive, fully restored train engine.
💡 Pro Tip: Guided tours are available—call ahead to book!
More Family Adventures in Wisconsin
Looking for more kid-friendly fun? Check out these top picks:
- Must-Visit Attractions in Milwaukee – Iconic sights, hidden gems, and family favorites!
- Wisconsin Children’s Museums Your Kids Will Love – Hands-on learning and interactive exhibits.
- Living History Museums Near Milwaukee – Step back in time with these immersive experiences.
- Kid-Friendly Tours & Tastings in Milwaukee – Fun ways to explore local sites with your little explorers.
- Best Day Trips From Milwaukee – Easy getaways packed with adventure.
- Quirky Chicago Museums for Kids – Offbeat, fun, and totally unique museums just a short drive away!
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.
