Looking for an easy, low-cost day trip from Milwaukee? Add Henry Vilas Zoo in Madison to your list. It’s one of the only free zoos in the country—and it’s the perfect size for little legs.
Here’s everything you need to know before you go:
Admission is Always Free
Henry Vilas Zoo is completely free and community-supported. No admission fees, no parking costs – just a day of fun without spending a dime (unless you want to ride the carousel or grab a snack). Donations are welcome but not required.
What You’ll See
This small but mighty zoo is home to over 100 species, including:
- Lions, tigers, and bears (yes—literally!)
- Orangutans and lemurs
- A playful polar bear and curious grizzly
- Camels, a porcupine, and more
The exhibits are walkable, shaded, and just the right size for young kids to explore without getting overwhelmed.
Carousel & Train Rides
Don’t miss the indoor Conservation Carousel—it’s beautifully themed and only $2 per rider. There’s also a train ride that runs seasonally (weather permitting), so check availability when you arrive.
Epic Play Space
The outdoor playground is a major highlight! It includes:
- Multiple slides
- A bridge and climbing structures
- Animal sculptures perfect for photos
Let the kids run off their energy before heading home.
Snack Time Tips
There are a couple of on-site cafés, but hours may vary. To be safe:
- Bring your own snacks and water
- Picnic tables are available
- Keep a small cooler or snack bag in your stroller or wagon
What to Bring
- Stroller or wagon – Even though the zoo is small, little legs get tired.
- Sunscreen & hats – Lots of shade, but some areas are sunny.
- Change of clothes – For playground or potential splash zones.
- Snacks and water bottles
Wheelchair and stroller rentals are available at the entrance for a small fee.
Toddler Tips & Mood Savers
If you’re traveling with toddlers or preschoolers, here are a few ideas to help avoid meltdowns:
- Departure Trick: Say goodbye to the animals and playground before leaving. “Bye lions! Bye bridge!” This gives young kids closure.
- Mood Boost Game: “Don’t laugh! Don’t smile!” (They’ll crack up.)
- Animal Mix-Up: Point at an elephant and make a duck sound. Let them correct you—giggles guaranteed.
- Line Waiting: Catch pretend butterflies or play “I Spy” while waiting.
- Let Them Choose: “Pick one more thing to do before we go.” A little control helps transitions.
Getting There
Henry Vilas Zoo is located in downtown Madison, about 1 hour and 20 minutes from Milwaukee. There’s a free parking lot and plenty of street parking nearby.
Address: 702 S Randall Ave, Madison, WI 53715
Hours: 9:30 AM – 5:00 PM daily
Website: henryvilaszoo.gov
Make it a Full Day in Madison
Want to make the most of your trip? Pair your zoo visit with:
- Vilas Park Beach & Playground (right next to the zoo)
- UW-Madison Arboretum – for nature walks
- Ella’s Deli Carousel – nostalgic and fun
- Madison Children’s Museum – great if you want an indoor stop
Related Posts You Might Like
- 🦁 Family Guide to the Milwaukee County Zoo
Everything you need to plan a stress-free visit to Milwaukee’s beloved zoo. - ☀️ The Perfect Summer Day Trip to Madison with Kids
A full-day itinerary with kid-friendly stops, food recs, and more. - 🐐 Petting Zoos & Animal Encounters Around Southeastern Wisconsin
Hands-on fun for little animal lovers, from farms to nature centers. - 🚙 The Perfect Pit Stop: Concord General Store & Zoo
A quirky and quick animal stop just off I-94—ideal for breaking up the drive to Madison.
Final Thoughts
Henry Vilas Zoo is one of the easiest, most affordable day trips you can take with little kids. It’s low-stress, high-reward, and totally doable even with toddlers in tow.
Got tips of your own or questions about your visit? Drop them in the comments or join the conversation over on Instagram @mkewithkids.
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.
