This guide highlights Wisconsin’s best family vacation destinations – places where you can comfortably spend 2–5 days exploring beaches, museums, small-town charm, outdoor adventures, and kid-friendly attractions.
💡If you’re looking for even more ideas across the state, explore our full Wisconsin With Kids Guide, packed with family-friendly attractions, hidden gems, and practical tips for every season.
Quick Look: Best Family Vacations in Wisconsin
- Best for Waterpark Fun: Wisconsin Dells
- Best Nature + Lakes: Door County, Elkhart Lake
- Best Small-Town Charm: Cedarburg, Port Washington
- Best Big-City Adventures: Madison, Green Bay
- Best Lakeshore Vacations: Sheboygan, Bayfield
- Best Northwoods Exploration: Bayfield + Apostle Islands
💡If you’re planning a shorter escape, don’t miss our separate guide to Family Weekend Getaways in Wisconsin for quick trips and closer-to-home adventures.
How to Choose the Best Wisconsin Vacation Spot for Your Family
Every family travels differently – some want beaches and waterparks, others prefer hiking trails, small-town charm, or plenty of indoor options for unpredictable Midwest weather. Here’s a quick guide to help you match your family’s travel style with the right destination:
Best for Toddlers
Gentle attractions, walkable areas, and plenty of low-stress activities.
- Elkhart Lake – Calm beaches, easy parks, stroller-friendly paths
- Madison – Free zoo, children’s museum, big green spaces
- Bay Beach (Green Bay) – Little-kid rides at toddler-friendly prices
- Sheboygan (Bookworm Gardens) – Story-themed outdoor play areas
Best for Big Kids & Tweens
A mix of adventure, novelty, and room to explore.
- Wisconsin Dells – Indoor parks, waterparks, endless attractions
- Door County – Beaches, biking, mini golf, state parks
- Lake Geneva – Beach days, zipline adventures, stables, boat rides
- Kohler-Andrae State Park – Boardwalks, dunes, easy hikes
Best for Teens
More independence and bigger adventures they can get excited about.
- Door County – Kayaking, bluff hikes, cool towns
- Bayfield – Apostle Islands sea caves and hiking
- Lake Geneva Ziplines – High-ropes courses + zipline tours
- Road America (Elkhart Lake) – Motorsports events + tours
Best for Winter Vacations
Indoor attractions and cozy winter activities.
- Wisconsin Dells – Indoor waterparks, arcades, shows
- Madison – Museums, zoo, seasonal festivals
- Elkhart Lake – Winter sports, resort amenities, village charm
Best for Beach Vacations
Sandy stretches, clear water, and great spots for swimming.
- Sheboygan – Lake Michigan beaches + kid-friendly attractions
- Door County – Bayside beaches, nature preserves
- Port Washington – Lakeside playgrounds + calm waterfront
- Harrington Beach State Park – Quiet beach, nature trails
1. Wisconsin Dells: More Than Just Waterparks
Best For: Families who want a packed itinerary of indoor + outdoor attractions
Ideal Trip Length: 3–4 days
Why It’s Great for a Vacation
It’s not just waterparks — it’s indoor amusement parks, scenic boat tours, hiking, mini golf, and attractions that can fill a full week if you want them to.
Highlights for Families
- Indoor amusement parks (go-karts, ropes courses, rides)
- Massive indoor + outdoor waterparks
- Dells Boat Tours (a must!)
- Easy rainy-day activities
- Family-friendly resorts
💡 Get more details: For a deep dive on everything to do, here’s our full guide to the Wisconsin Dells with kids. You’ll find indoor and outdoor water-parks, resorts, restaurants and more.
2. Elkhart Lake: Laid-Back Lakeside Beauty
Best For: Families who love beaches, resorts, and good food
Ideal Trip Length: 2–3 days
Why It’s Great for a Vacation
This lakeside town feels peaceful, upscale, and kid-friendly — a relaxing place with easy access to nature and great dining.
Highlights for Families
- Clear, swimmable lake with rentals
- Fireman’s Park beach + playground
- Road America races + sunset cruises
- Historic Gessert’s Ice Cream
- Beautiful trails and parks
Resorts like The Osthoff, Siebkens, and The Shore Club make it easy to settle in.
3. Cedarburg: A Hallmark Town Come to Life
Best For: Slow-paced, charming vacations full of walkable fun
Ideal Trip Length: 2–3 days
Why It’s Great for a Vacation
Cedarburg is cozy, historic, and extremely family-friendly with shops, parks, festivals, and kid-friendly stops all on one main street.
Highlights for Families
- Cedar Creek Settlement (shops + winery)
- Art of Joy (zero-proof cocktails for adults + kids, patio, kids’ corner)
- Festivals: Strawberry Fest, Oktoberfest, Winter Fest
- Cedar Creek Park playground
- Covered Bridge Park (amazing photo spot)
- Charming inns like Washington House Inn
4. Door County: Wisconsin’s Vacation Superstar
Best For: Outdoorsy families + adventure seekers
Ideal Trip Length: 3–5 days
Why It’s Great for a Vacation
With beaches, state parks, lighthouses, cherry orchards, and adorable towns, Door County has something for every age.
Highlights for Families
- Peninsula State Park
- Whitefish Dunes State Park
- Kayaking + biking
- Cherry picking
- Fish boils (a Door County classic)
- Egg Harbor shops + playground
Door County is one of the few places in Wisconsin where you can plan a full, activity-packed week without running out of things to do.
5. Bayfield + Apostle Islands: A Nature-Lovers’ Paradise
Best For: Older kids + adventurous families
Ideal Trip Length: 3–5 days
Why It’s Great for a Vacation
Bayfield is a charming, colorful coastal town that serves as the gateway to the beautiful Apostle Islands.
Highlights for Families
- Sea caves
- Island cruises
- Kayaking (best for older kids/teens)
- Lake Superior hiking
- Maritime history
- Calm, walkable downtown
For families wanting a “bucket list” Wisconsin trip, this is it.
6. Madison: The Capital of Kid-Friendly Fun
Best For: Learning + exploring + food
Ideal Trip Length: 2–4 days
Why It’s Great for a Vacation
There’s so much to do: a free zoo, a children’s museum, botanical gardens, the Capitol, and tons of outdoor options.
Highlights for Families
- Henry Vilas Zoo (free!)
- Madison Children’s Museum
- State Capitol tours (free!)
- Dane County Farmers’ Market
- Olbrich Botanical Gardens
- Sunflower Days at Pope Farm Conservancy
- Cave of the Mounds (short drive)
Badger Game
For families who bleed red and white, a University of Wisconsin Badger Game is an absolute must! It’s not just about football; it’s an experience that bonds families with the spirit of Wisconsin.
From the electrifying atmosphere at Camp Randall Stadium to the traditions that make each game memorable, attending a Badger game is like stepping into a world of collegiate excitement and pride. Here are 10 Tips For Your Next Badger Game With Kids.
Cave of The Mounds
Just a short ride from Madison, Cave of the Mounds isn’t your average cave; it’s a subterranean wonderland. Plus, there’s a gemstone mine – because who doesn’t want to find treasure?
7. Lake Geneva: Lakeside Fun + Adventure
Best For: Families who want nature + attractions + a resort feel
Ideal Trip Length: 3–4 days
Why It’s Great for a Vacation
Lake Geneva blends charming downtown shops with lakeside fun and outdoor adventure.
Highlights for Families
- Lake Geneva Cruise Line
- Black Point Estate tour
- Dan Patch Stables horseback riding
- Animal Gardens petting zoo
- Big Foot Beach State Park
- Lake Geneva Ziplines
Great all-year, especially for summer and fall trips.
8. Sheboygan: Beach Town Meets Creativity
Best For: Beach lovers + creative kids
Ideal Trip Length: 2–4 days
Why It’s Great for a Vacation
Sheboygan is full of beaches, dunes, art, and kid-friendly attractions.
Highlights for Families
- Blue Harbor Resort + Breaker Bay Waterpark
- Bookworm Gardens (a must!)
- Above & Beyond Children’s Museum
- Kohler Arts Center
- Harrington Beach State Park
- Kohler-Andrae boardwalks
- Farm Wisconsin Discovery Center
This is easily one of the most underrated Wisconsin vacation spots.
Kohler Andrae State Park is a showcase of natural beauty with its sandy beaches, rolling dunes, and pine forest trails. The Sanderling Nature Center, nestled among the dunes, offers educational exhibits and an observation deck.
The park’s trails, including the Creeping Juniper and Black River Marsh Boardwalk, are perfect for family hikes.
9. Green Bay: Affordable + Fun + Lots to Do
Best For: Animal lovers, train lovers, and football fans
Ideal Trip Length: 2–3 days
Why It’s Great for a Vacation
Green Bay is super family-friendly with budget-friendly attractions and tons of free or low-cost activities.
Highlights for Families
- Bay Beach Amusement Park
- Wildlife Sanctuary
- Lambeau Field tour + Titletown District
- National Railroad Museum
- Botanical Garden
Titletown makes this city especially fun for kids.
Botanical Beauty
The Green Bay Botanical Garden is 47 acres of “wow, nature’s cool.” It’s a green oasis with a rose garden, a brand new children’s garden, and even a hobbit house.
10. Port Washington: A Sweet Lakeside Escape
Best For: Younger kids + beach days + charming shops
Ideal Trip Length: 1–3 days
Why It’s Great for a Vacation
It’s close to Milwaukee but feels like a true getaway — walkable, scenic, and full of kid-friendly activities.
Highlights for Families
- Possibility Playground (incredible!)
- 1860 Light Station museum
- Pirate’s Hollow waterpark
- Lakeside strolls
- Chocolate Chisel ice cream
- Port Exploreum maritime museum
A perfect low-key summer vacation spot.
Comparison Chart: Wisconsin Family Vacation Spots
| Destination | Best For | Ideal Length | Must-Do Activity | Season |
|---|---|---|---|---|
| Wisconsin Dells | Indoor + waterpark fun | 3–4 days | Boat Tour | Year-round |
| Elkhart Lake | Beaches + resorts | 2–3 days | Gessert’s Ice Cream | Summer |
| Cedarburg | Small-town charm | 2–3 days | Cedar Creek Settlement | All seasons |
| Door County | Outdoors + beaches | 3–5 days | Peninsula State Park | Summer/Fall |
| Bayfield | Nature + kayaking | 3–5 days | Apostle Islands | Summer |
| Madison | Museums + zoo | 2–4 days | Children’s Museum | All seasons |
| Lake Geneva | Lakeside adventure | 3–4 days | Cruise Line | Summer/Fall |
| Sheboygan | Beach + gardens | 2–4 days | Bookworm Gardens | Summer |
| Green Bay | Budget-friendly fun | 2–3 days | Bay Beach | Summer |
| Port Washington | Low-key lake town | 1–3 days | Lighthouse tour | Summer |
Related Posts to Help Plan Your Trip
- 100 Best Day Trips from Milwaukee
- Best Wisconsin Hotels with Indoor Waterparks
- Best Family Campgrounds in Wisconsin
- 25 Most Unique Places to Stay in Wisconsin
- 4 Stunning National Parks in Wisconsin
- 10 Best Wisconsin Boat Tours & Scenic Cruises
For more adventure ideas, don’t forget to check out our articles on the “100 Best Day Trips from
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.
