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Day Trips From Milwaukee

Explore the best family-friendly day trips from Milwaukee! Discover fun and exciting destinations perfect for kids and parents alike, just a short drive away.

Looking to switch things up and explore beyond Milwaukee? You’re in the right place. This guide features our favorite family-friendly day trips, all within about two hours of the city. From small towns with big charm to hands-on museums, scenic parks, and hidden gems, these destinations offer something for every kind of adventure. We’ve grouped...
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Maggie Daley Park Play Garden
Step inside Medieval Times in Schaumburg for a thrilling night of knights, horses, and a medieval feast. Chicago’s suburbs are packed with family-friendly destinations — from world-class children’s museums and nature playgrounds to giant indoor playlands, medieval dinner shows, and some of the Midwest’s best zoos. Whether you’re planning a full weekend getaway or adding...
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Chicago’s classic museums get plenty of love — but if your kids prefer something colorful, silly, hands-on, or totally unexpected, the city is full of fun and unique museums that go way beyond traditional exhibits. Think sprinkle pools, slime labs, optical illusions, rainbow rooms, money shredders, and even a retro McDonald’s museum. These spots are perfect...
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The iconic slime wall — a rainbow cascade of color that perfectly captures Sloomoo’s playful, messy magic. If you’re on the hunt for a unique, kid-approved indoor experience, the Sloomoo Institute slime museum in Chicago is a sensory wonderland unlike anything else. Just a 90-minute drive from Milwaukee (traffic permitting), this colorful, tactile space is filled with...
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Formerly Legoland Discovery Center Schaumburg Planning a visit to the LEGO® Discovery Center in Schaumburg? This popular Chicago-area attraction — formerly known as the Legoland Discovery Center — is a colorful, hands-on destination for families with younger children. From giant LEGO sculptures to kid-friendly rides and immersive play areas, there’s plenty here to keep little...
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Bookworm Gardens, a whimsical botanic garden inspired entirely by children’s literature, offers a one-of-a-kind day trip for families. Located just off the highway in Sheboygan, it’s well worth the 50-minute drive from Milwaukee. I’ve visited Bookworm Gardens many times with my kids over the years, and every visit feels just as magical as the first....
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If you’ve ever driven by Manitowoc, you may have noticed a giant, modern-looking red barn located just off the highway. It’s actually not a farm – it’s the Farm Wisconsin Discovery Center, a hands-on, agricultural museum for kids. Photo: Visit Manitowoc Just an hour north of Milwaukee, it’s a vibrant, interactive experience that brings the...
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With its sprawling 257 acres, Fox River Park in Waukesha is a year-round haven for families seeking a touch of wilderness and a break from the digital world. Waukesha & Pewaukee CVB At the heart of the park is a standout feature that draws families from all around: a natural playground designed to reconnect kids...
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West Bend is a hidden gem for families looking to enjoy a day packed with art, nature, and fun, all in a charming, walkable setting. From the renowned Museum of Wisconsin Art (MOWA) to the newly expanded Riverwalk, this town just 40 minutes north of Milwaukee has something for everyone. I’ve been visiting West Bend with my kids...
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Cedarburg is known for small-town feel and vintage charm. Photo from Washington House Inn If you’re craving an easy getaway that feels a world away from Milwaukee, spend a day in Cedarburg, Wisconsin. This historic small town is just 22 miles north of the city and filled with family-friendly shops, scenic walks, seasonal festivals, and the...
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