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Finding the right place to stay can make all the difference when you’re visiting Milwaukee with kids—or planning a fun, low-stress staycation close to home. Families often look for Milwaukee hotels with indoor pools, and luckily, our city has several great options. From classic downtown landmarks to modern, artsy spots, these kid-friendly hotels in Milwaukee offer warm pools, walkable locations, and easy access to the city’s best attractions.
To help you skip the guesswork, we rounded up the best hotels for families, including a mix of downtown Milwaukee hotels and nearby favorites with bigger pool areas. Whether you’re here for a weekend getaway or treating the kids to a special overnight adventure, these picks are comfortable, convenient, and family-approved.
Quick Picks: Best Milwaukee Hotels With Indoor Pools (2026)
Short on time? Here are the top family-friendly Milwaukee hotels with indoor pools, including downtown favorites and an easy waterpark-style option just outside the city:
- Best Classic Downtown Stay: The Pfister Hotel — Warm indoor pool with skyline views, walkable to the lakefront, museums, and the Public Market.
- Best Walkable Location for Families: Courtyard by Marriott Milwaukee Downtown — Heated indoor pool and steps from Third Street Market Hall’s arcade games and kid-friendly food stalls.
- Best Value + Free Extras: Drury Plaza Hotel Milwaukee Downtown — Indoor pool, large hot tub, free breakfast, evening Kickback, and all-day popcorn.
- Best for Events & Older Kids: Aloft Milwaukee Downtown — Warm indoor pool and unbeatable access to Fiserv Forum and Deer District activities.
- Best Budget Pick: Cambria Hotel Milwaukee Downtown — Stylish rooms, great service, and a well-maintained indoor pool close to the Public Market and Third Ward.
- Best Waterpark-Style Stay (Near Milwaukee): The Ingleside Hotel — Springs Water Park features slides, splash zones, a lazy river, and an arcade for easy staycation fun.
Compare the Best Milwaukee Hotels With Indoor Pools
| Hotel | Neighborhood | Indoor Pool | Why Families Like It | Room Options | Walkable To | Parking |
|---|---|---|---|---|---|---|
| Courtyard by Marriott Milwaukee Downtown | Downtown | Heated indoor pool | Clean, reliable stay; extremely walkable location | Two-bed rooms; standard family-friendly layouts | Third Street Market Hall, shops, cafés | Paid onsite parking |
| Drury Plaza Hotel Milwaukee Downtown | East Town / Downtown | Heated indoor pool + large hot tub | Free breakfast, evening Kickback, all-day popcorn | Two-bed rooms; suites; mini-fridges | Historic Third Ward, SafeHouse, Pabst Theater | Paid parking |
| Aloft Milwaukee Downtown | Deer District | Heated indoor pool | Warm, kid-friendly pool; steps from major venues | Modern rooms; courtyard-facing rooms available | Fiserv Forum, Deer District, Marcus Center | Valet parking |
| Cambria Hotel Milwaukee Downtown | Downtown / Third Ward | Well-maintained indoor pool | Modern, clean rooms; consistently great service | Spacious, modern layouts | Public Market, Symphony Center, Bronze Fonz | Paid onsite parking |
| The Ingleside Hotel (Springs Water Park) | Pewaukee (near Milwaukee) | Indoor water park | Slides, splash zones, lazy river, arcade | Variety of family rooms & suites | Pewaukee Lake, restaurants, parks | Free or paid parking (varies) |
Top Milwaukee Hotels With Indoor Pools
1. The Pfister Hotel – Indoor Pool with Skyline Views
📍 424 E Wisconsin Ave, Milwaukee, WI 53202
Why Families Love It
The Pfister is Milwaukee’s iconic hotel—grand, historic, and surprisingly easy for families. It’s quiet, elegant, and known for thoughtful service. Kids love the tall ceilings and glass elevators, while grown-ups enjoy the calm, polished atmosphere. here’s a casual café onsite (Café at the Pfister) for an easy breakfast with kids, plus Mason Street Grill for a nicer dinner without leaving the building. At night, parents can sneak up to Blu, the hotel’s stunning rooftop cocktail lounge, which offers skyline views and a relaxing vibe. The hotel also hosts a lovely Afternoon Tea at Blu, a unique and memorable experience for families.
Indoor Pool Details
One of the biggest highlights is the indoor pool with panoramic city views. It sits high in the tower, offering a bright, open feel. The water is warm and clean, and the seating area is spacious for parents who want to relax while keeping an eye on swimmers.
Location Highlights
This hotel sits near:
- The Milwaukee Art Museum
- Lakeshore State Park
- Milwaukee Public Market
- Historic Third Ward
- Lakefront Trail
- Cathedral Square
- Tons of dining options
Room Options for Families
- Larger traditional rooms
- Suites with extra sitting space
- Tower rooms with great views
Parking + Extra Costs
Valet parking is available, along with paid garage options. Additional costs may apply for breakfast or spa services.
What’s Nearby for Kids (Walkable)
- Lakeshore State Park for wildlife spotting
- Northwestern Mutual Community Playground
- Betty Brinn Children’s Museum (short ride away)
- Milwaukee Public Market
- Ice cream shops and cafés
Check prices and availability at The Pfister Hotel here (affiliate link)
💡 Looking for more standout stays? Explore our full guide to the Coolest Places to Stay in Milwaukee.
2. Courtyard by Marriott Milwaukee Downtown – Walkable Location & Family Perks
📍 300 W Michigan St, Milwaukee, WI 53203
Why Families Love It
Courtyard by Marriott is a dependable pick for families who want a straightforward, clean place to stay in the heart of downtown. The lobby and common areas are easy to navigate with kids, and the central location makes getting around Milwaukee simple and stress-free.
Indoor Pool Details
The hotel features a heated indoor pool for guests. It’s a nice option for a quick swim at the end of the day or a low-key morning activity before heading out to explore the city.
Location Highlights
One of the biggest perks is the walkability. You’re just steps from:
- Third Street Market Hall (kid-friendly food stalls, arcade games, and play zones)
- Shops and cafés throughout downtown
Discovery World, the Milwaukee Public Market, and the Historic Third Ward are a quick drive away.
Room Options for Families
Room layouts vary, but options typically include:
- Guest rooms with two beds
- Rooms designed for short or extended stays
- Standard amenities families need for a comfortable overnight
(Crib availability may vary and is not documented on the hotel’s main page.)
Parking + Extra Costs
The hotel offers paid onsite parking in an attached garage. Breakfast, coffee, and meals are available for purchase at The Bistro, the hotel’s onsite restaurant.
What’s Nearby for Kids (Walkable)
- Third Street Market Hall (games + kid-friendly eats)
- Easy spots for quick lunches and dinners
- Seasonal events happening throughout downtown
See current rates at Courtyard Milwaukee Downtown here (affiliate link)
3. Drury Plaza Hotel Milwaukee Downtown – Indoor Pool + Free Snacks
📍 700 N Water St, Milwaukee, WI 53202
Why Families Love It
Drury Plaza is a standout choice for families thanks to all the built-in perks that make travel easier. Kids love the indoor pool and large hot tub, and parents appreciate the complimentary hot breakfast and the nightly Kickback with drinks and hot snacks. The all-day popcorn bar is always a hit with little ones and makes the hotel feel extra welcoming.
Indoor Pool Details
The hotel features a heated indoor pool plus a large hot tub, giving families an easy way to unwind after exploring the city.
Location Highlights
Drury Plaza is in a great downtown spot, walkable to:
- Historic Third Ward
- Safehouse (a kid-favorite spy-themed restaurant)
- Pabst Theater
- Riverwalk access
- Tons of cafés and restaurants
Room Options for Families
Rooms are clean and spacious, with options that typically include:
- Two-bed layouts
- Larger rooms and suites
- Mini-fridges and standard conveniences
Parking + Extra Costs
Parking is available for a nightly fee. Breakfast and the evening Kickback are included, which is a big value for families.
What’s Nearby for Kids (Walkable)
- Safehouse (spy-themed family experience)
- Riverwalk trails
- Quick-service and sit-down dining options
- Parks and plazas around East Town
Book Your Stay
Book your stay at Drury Plaza Milwaukee here (affiliate link)
4. Aloft Milwaukee Downtown – Steps from Fiserv Forum & Deer District
📍 1230 N Old World 3rd St, Milwaukee, WI 53212
Why Families Love It
Aloft Milwaukee Downtown is a great option for families who want a simple, comfortable stay close to major attractions. Kids love the warm, kid-friendly indoor pool, and the hotel’s location makes it easy to walk to Fiserv Forum, the Deer District, and the Marcus Center.
Indoor Pool Details
Aloft features a heated indoor pool that’s perfect for a quick splash session or a relaxing swim after a busy day exploring the city.
Location Highlights
You’re within an easy walk of:
- Fiserv Forum
- Deer District
- Marcus Center for the Performing Arts
- Plenty of restaurants and entertainment venues
Room Options for Families
Rooms are modern and comfortable, with layouts that work well for families. You can also request a courtyard-facing room for a quieter night’s sleep.
Parking + Extra Costs
Aloft offers convenient valet parking for guests.
What’s Nearby for Kids (Walkable)
- Outdoor plaza events at Deer District
- Family-friendly dining options
- Seasonal activities near Fiserv Forum
View prices and availability at Aloft Milwaukee Downtown here (affiliate link)
5. Cambria Hotel Milwaukee Downtown – Stylish, Spacious & Central
📍 503 N Plankinton Ave, Milwaukee, WI 53203
Why Families Love It
Cambria Hotel Milwaukee Downtown is a solid choice for families who want a comfortable, modern place to stay. Guests consistently praise the clean, contemporary rooms, comfortable beds, and great service. The well-maintained indoor pool is a big perk for families looking to unwind after a day of exploring.
Indoor Pool Details
Cambria features a clean, well-kept indoor pool that families appreciate for its calm, modern feel.
Location Highlights
One of Cambria’s biggest strengths is its central location. You can walk to:
- Milwaukee Public Market
- Symphony Center
- Bronze Fonz
- Historic Third Ward
Room Options for Families
Rooms are modern and comfortable, with layouts that work well for families seeking extra space and updated amenities.
Parking + Extra Costs
Onsite parking is typically available for a nightly fee.
What’s Nearby for Kids (Walkable)
- Riverwalk strolls
- Fun food options at Milwaukee Public Market
- Third Ward shops and cafés
Check Cambria Hotel Milwaukee Downtown rates here (affiliate link)
Bonus: The Ingleside Hotel – Milwaukee’s Closest Indoor Water Park
The Ingleside Hotel & Springs Water Park – Pewaukee
📍 2810 Golf Rd, Pewaukee, WI 53072
Why Families Love It
Just outside Milwaukee, The Ingleside Hotel is a favorite for families who want a full indoor water park experience without traveling far. Springs Water Park features thrilling slides, a lazy river, and splash areas, making it an easy staycation-style getaway for kids of all ages. There’s also an arcade located next to the water park.
Indoor Pool + Water Park Details
Springs Water Park includes:
- Multiple water slides
- A winding lazy river
- Interactive splash areas and shallow zones
- Warm indoor water temperatures designed for all-day play
Location Highlights
Located in Pewaukee, it’s a short drive from Milwaukee and close to:
- Pewaukee Lake
- Local family-friendly restaurants
- Parks and outdoor walking paths
Room Options for Families
Families can choose from a variety of room types, including spacious layouts ideal for groups seeking convenience after a day in the water park.
Parking + Extra Costs
Free onsite parking is typically available. Water park access may be included with certain packages or available as an add-on, depending on the season.
What’s Nearby for Kids (Short Drive)
- Lakeside parks
- Ice cream shops and casual family dining
- Indoor play spaces and seasonal events
🔗 See water park deals at The Ingleside Hotel here (affiliate link)
Willing to drive a little farther? Check out our full guide to Indoor Water Parks Near Milwaukee!
Related Guides for Your Visit
Planning a trip or staycation in Milwaukee? These guides can help you make the most of your time in the city:
- Best Milwaukee Restaurants for Kids
- 100 Best Things To Do in Milwaukee
- Milwaukee Public Museum
- Milwaukee Art Museum
- Hop Streetcar
- Best Museums for Kids Around Milwaukee
- Betty Brinn Children’s Museum
- Best Playgrounds in Milwaukee
- 100 Milwaukee Staycation Ideas
No matter the season, a hotel with an indoor pool can turn a simple getaway into a fun-filled family adventure. Whether you’re visiting from out of town or planning a Milwaukee staycation, these downtown hotels offer great locations and kid-friendly amenities to make your trip special.
Frequently Asked Questions About Milwaukee Hotels With Pools
If your kids simply want a warm, easy swim at the end of the day, Drury Plaza, Pfister Hotel, Aloft Milwaukee Downtown, Cambria Hotel, and Courtyard by Marriott all offer clean, family-friendly indoor pools.
For a more activity-packed experience, Springs Water Park at The Ingleside Hotel (just outside Milwaukee) offers slides, splash zones, and a lazy river—great for birthdays or staycation-style weekends.
Yes, most indoor hotel pools in Milwaukee are open year-round, including the pools at Drury Plaza, Aloft, Cambria, Courtyard by Marriott, the Pfister Hotel, and the Ingleside Hotel’s water park. Hours can vary by season or event, so it’s always a good idea to double-check with the hotel before you book.
If you’re looking for extra space, the Pfister Hotel, Drury Plaza and Cambria Hotel Milwaukee Downtown both offer suite-style rooms or layouts with additional sitting space. Many families also find the larger rooms at Courtyard by Marriott and Aloft’s more open layouts comfortable for longer stays.
For an iconic Milwaukee experiences and skyline views, the Pfister Hotel is our top pick. For a classic downtown staycation with plenty to do nearby, Drury Plaza (free breakfast + evening snacks), Cambria, and Aloft are great options. If you want a true “vacation without leaving town,” Springs Water Park at The Ingleside Hotel is the best pick for a splash-filled getaway that feels special for kids.
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.
