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One of Milwaukee’s easiest and most beautiful lakefront walks for families
Lakeshore State Park is one of the most unique green spaces in Milwaukee—and one of the city’s best kid-friendly hikes. As Wisconsin’s only urban state park, it offers paved, stroller-friendly paths, wildlife viewing, beautiful prairie landscapes, and some of the best Lake Michigan and skyline views in the city.
Located between Discovery World, the Summerfest Grounds, and the Milwaukee Art Museum, this 22-acre park is perfect for a quick nature break, a family walk, or a peaceful sunset stroll. It also connects to the Hank Aaron State Trail, making it easy to turn your visit into a longer adventure.
Quick Facts for Families
- Location: Downtown Milwaukee, next to Discovery World
- Trail Type: Fully paved, stroller-friendly
- Great For: Toddlers, early walkers, bigger kids, picnics, nature spotting
- Features: Lake views, small beach, prairie habitat, wildlife
- Nearby: Northwestern Mutual Community Park, Art Museum, Wind Leaves, Summerfest grounds
- Parking: Limited free parking + multiple paid options (details below)
- Perfect For: A quick outing, an easy weekend walk, or a family-friendly lakefront adventure
Why Families Love Lakeshore State Park
Lakeshore State Park is one of the easiest places in the city to enjoy nature with kids. Families especially love:
- Stroller-friendly paths with no steep hills
- Wildlife spotting opportunities along the lake and prairie
- Open, safe sightlines (great for toddlers who like to wander)
- Unobstructed views of Lake Michigan and the skyline
- Proximity to other attractions, like the Milwaukee Art Museum and Northwestern Mutual Community Park
- A small beach area where kids can play and explore (note: no swimming)
It’s also featured in our guide to Gorgeous Hikes for Kids Around Milwaukee.
Wildlife You May See
This park is fantastic for introducing kids to local wildlife. Keep an eye out for:
Birds
- Songbirds
- Shorebirds
- Waterfowl (ducks, geese, loons, herons)
Mammals
- Red and grey foxes
- Woodchucks
- Muskrats
- Rabbits
- Deer
- Mink (occasionally!)
Reptiles & Amphibians
- Garter snakes (harmless and common near prairie areas)
- Snapping & painted turtles sunning on the rocks
- Bullfrogs along the shoreline
Kids love spotting animals, and you’ll often see turtles basking in sunny spots along the water.
Plantlife and Prairie Landscape
Lakeshore State Park sits on land that was once part of Lake Michigan. Today, it features a restored short-grass prairiewith:
- Butterfly Weed
- Purple Coneflower
- Native grasses
- Seasonal wildflowers
The prairie creates open, breezy views of the water and acts as a vital habitat for wildlife. In late summer and fall, the flowers make this park especially photogenic.
Things to See & Do Nearby (All Walkable)
A big part of the fun here is how many kid-friendly attractions are only steps away:
Northwestern Mutual Community Park
This award-winning playground is located on the Summerfest Grounds and often open during non-event days. It’s one of Milwaukee’s best playgrounds.
Wind Leaves at Discovery World
A collection of rotating aluminum sculptures covered in reflective disks. Kids love:
- Spinning the sculptures
- Playing the musical benches
- Dropping pebbles into the sound sculpture
You can also head inside for some of the best science and technology exhibits in Milwaukee. Check out our full guide to Discovery World.
Milwaukee Art Museum
Explore the outdoor sculptures, walk the bridge, or head inside for a family-friendly visit. Kids 12 and under are always free. Here are our favorite things to do with kids at the Milwaukee Art Museum.
“LOVE” Sculpture
Located behind the Milwaukee Art Museum — a fun photo stop.
O’Donnell Park + The Calling
Cross the footbridge to see the iconic orange “sunburst” sculpture and rotating public art installations. Here’s a full Sculpture Walk With Kids in the area!
Pro Tips for Visiting With Kids
- Stop at Northwestern Mutual Community Park if it’s open — it’s an easy detour and a kid favorite.
- Bring binoculars for turtle and bird spotting.
- Keep little kids close near the rocky shorelines, which drop into deeper water.
- Plan for wind — the lakefront can be breezy even on warm days.
- Avoid peak Summerfest hours; parking and access may be limited.
Parking Guide
You have several options, and this can be confusing for visitors — here’s the simplest breakdown:
Free Parking (South Entrance)
From Erie Street:
- Drive to the end of E. Erie St. and turn left.
- Follow the road under the Hoan Bridge.
- Park on the road shoulder near the turnaround.
This is the best free option.
Free (Very Limited) Parking — North Entrance
- Along N. Harbor Dr.
- Along Clybourn St. leading to Discovery World
(This fills quickly during weekdays and may be closed during events.)
Paid Parking Options
- O’Donnell Parking Garage (910 E Michigan St)
- Discovery World paid lot — available only during business hours
More Hike Ideas
Looking for more family-friendly trails?
- The Conservancy for Healing & Heritage
- 7 Stroller Friends Hikes in Milwaukee
- Easy Hikes for Kids Around Milwaukee
- Gorgeous Fall Hikes Around Milwaukee
- Best Spring Hikes for Families
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.
