20 Milwaukee Museums Your Kids Will Love (2024)

From local favorites like Betty Brinn Children’s Museum and the Milwaukee Public Museum, to lesser-known gems like the National Bobblehead Museum and the Spinning Top and Yo-Yo Museum in Burlington, the Milwaukee area is home to more than a dozen kid-friendly museums.

Want to save on admission?

Take advantage of discounted admission during Milwaukee Museum Days and free admission days throughout the year.

You can also check out our list of free Milwaukee Museums.

Read on to find your next adventure!

1. Betty Brinn Children’s Museum

929 E. Wisconsin Ave., Milwaukee, WI 53202
(414) 390-5437

Photo Credit: Facebook, @bettybrinn

The Betty Brinn Children’s Museum inspires children to wonder and explore their world through play and innovative, hands-on learning experiences. Families can have fun learning together in the museum’s interactive exhibits, including Home Sweet Home, Let’s Play Railway, Science CITY and Pocket Park (for children age 4 and younger).

Stop by the Be A Maker space for hands-on creative activities and collaborative projects. Special programs, sensory friendly sessions, workshops and events are offered throughout the year to spark exploration among children.

Pro Tip: The museum offers free admission for all on Community Access Days, which take place on the third Thursday of every month. (Advanced registration required; some restrictions apply.)

2. Milwaukee Public Museum

800 W. Wells St., Milwaukee, WI 53233
(414) 278-2728

Photo Credit: Facebook, @MKEPublicMuseum

The Milwaukee Public Museum welcomes more than half a million visitors annually. Located in downtown Milwaukee, the Museum currently houses more than 4 million objects in its collections. MPM has three floors of exhibits that encompass life-size dioramas, walk-through villages, world cultures, dinosaurs, a rainforest, and a live butterfly garden, as well as the Daniel M. Soref Dome Theater and Planetarium.

This spring, sloth lovers will be thrilled by a limited engagement exhibit entitled Survival of the Slowest, with live animals and demonstrations.

Pro Tip: To get the butterflies to land on you in the Butterfly Wing, wear red or orange!

Fun Fact: There are three hidden buttons in the museum. Can you find them all?

3. Cedarburg History Museum (FREE)

N58W6194 Columbia Rd, Cedarburg, WI 53012
(262) 377-9620

Cedarburg History Museum is one of 15 free museums around Milwaukee.

Located in the historic Hilgen & Schroeder Mill Store, the Cedarburg History Museum features permanent installments like the General Store Museum, rotating exhibits, and interactive technology.

Current exhibits include the General Store Museum and Cedarburg’s Train Station.

Admission is free, and donations are appreciated.

4. Dinosaur Discovery Museum (FREE)

5608 Tenth Ave., Kenosha, WI 53140
(262) 653-4450

Dinosaur Discovery Museum Kenosha Wisconsin
Photo Credit: Facebook, @DDMKenosha

Just a hop skip and jump from Milwaukee is the Dinosaur Discovery Museum in Kenosha, another one of our favorite free museums around Milwaukee.

It is s the only museum to focus on the link between meat-eating dinosaurs and birds.

Your can tour the main gallery filled with impressive dinosaur skeletons that are casts of actual fossil bones.

Be sure to head downstairs to dig for fossils, do dinosaur crafts, and peek into the on-site laboratory. Admission is free (suggested donation of $3 per person.

It is about 40 minute drive from Milwaukee, and it makes for a fun day trip from Milwaukee for kids.


5. Discovery World

500 N. Harbor Dr., Milwaukee, WI 53202
(414) 765-9966

Discovery World is the perfect place for young curious minds to explore, and their exploration can start before you even get inside. Don’t miss the Wind Leaves right outside of the main building. These tall aluminum columns are made of thousands of stainless steels disks, and they rotate with the wind. The material reflects light beautifully. You can also play on the musical benches surrounding the columns.

Once inside, visit the Innovation Station and try your hand with the flight simulator, construction truck display, and more. Climb the winding staircase with neon lights to the second floor and check out the “bed of nails”, made of tiny spikes to teach kids about pressure.

Downstairs, the Reiman Aquarium makes the underworld of Lake Michigan come alive to visitors with hands-on and immersive exhibits. Fish swim above, below, and all around you, and kids can pet sting-rays, crabs and more.

There’s also a road race simulator, a holiday exhibit around Christmas time, and the Kohl’s Design It! Lab, where families can create make and take projects together that vary in difficulty and complexity. They have staff on hand who can help you with creative tools such as hot glue guns, heat sealers, and vacuum-formers.

Towards the back of the building, you’ll find the a huge replica of the Great Lakes, where kids can cause a rainstorm or fog with the touch of a button. Upstairs is a replica of 19th century Great Lakes schooner that you can climb on board and explore.

On one side of the life-size ship, you’ll find the Simple Machine Shipyard, where kids learn about the building blocks of complex machines. Kids are empowered to lift large boulders, use a pulley system to lift themselves into the air, and more. On the opposite side of the ship, visitors can explore how Milwaukee Water Works purifies its water.

Discover more aquariums in Milwaukee >>

6. Harley-Davidson Museum

400 W. Canal St., Milwaukee, WI 53203
(877) 436-8738

Harley-Davidson Museum motorcycle Milwaukee Wisconsin
Photo Credit: Facebook, @hdmuseum

Pose for a photo with the company founders, see the oldest known Harley-Davidson motorcycle (also known as “Serial Number One”), rev up your engines in the engine room, rummage through discovery drawers filled with vintage toys and trinkets, make your own custom creation at the build-a-bike station, and much more!

Plus, don’t miss their first ever bilingual exhibit for kids and families.

7. Latino Arts, Inc.

1028 S. 9th St., Milwaukee, WI 53204
(414) 384-3100

Latino Arts, Inc., located in the heart of Walker’s Point, is  dedicated to bringing cultural awareness, artistic educational experiences, and high quality, family-friendly programming to the Greater Milwaukee and southeastern Wisconsin community, as well as to a global audience through virtual programming featuring Hispanic artists from throughout the world.

As the only Wisconsin fine arts institution dedicated exclusively to showcasing the works of Hispanic and Latinx artists, Latino Arts, Inc. provides high-quality low-cost arts programming. Latino Arts is committed to reaching beyond its south side Milwaukee neighborhood to share the rich cultural heritage of the Hispanic community with a diverse, global audience.

8. Milwaukee Art Museum

700 N. Art Museum Dr. Milwaukee, WI 53202
(414) 224-3200

Milwaukee Art Museum Kohls Studio Wisconsin
Photo Credit: Facebook, @milwaukeeart

Make the most of your next trip to the Art Museum with some tips from our post: “8 Special Things To Do With Kids At The Art Museum“.

Fun Fact: The museum is *always* free for kids 12 and under.

Pro Tip: Don’t miss the Kohl’s Art Studio. Drop-in activities and hands-on art projects are available every day!

9. Milwaukee County Historical Society

910 N. Old World 3rd St., Milwaukee, WI 53203
(414) 273-8288

Milwaukee County Historical Society family day Wisconsin
Photo: Visit Milwaukee

The Milwaukee County Historical Society was founded in 1935 and has become the place for people to learn about and celebrate Milwaukee. Through education programs, exhibitions, the research library, and special events, MCHS offers Milwaukeeans and visitors to Milwaukee a chance to connect with the heritage of Milwaukee. The MCHS headquarters is located in a historic bank building along the Milwaukee River, right next to Pere Marquette Park.

Fun Fact: More than one million documents and photographs and more than 60,000 artifacts are preserved by MCHS.

10. Milwaukee Fire Museum (FREE)

1615 W. Oklahoma Ave., Milwaukee, WI 53215
(414) 286-5272
Facebook Page

Milwaukee Fire Museum engine in garage Wisconsin

Only open on the first Sunday of each month (April – December, excluding holidays) from noon to 4 p.m., the Milwaukee Fire Museum features a dormitory-style bunk room, an alarm area and a fire officer’s office. It is one of five fire stations of this style built in 1927.

The museum houses the first department ambulance, a 1947 Cadillac, plus two trucks built in the Milwaukee Fire Department Shop during the 1920’s and 30’s. The building also has a vintage kitchen, locker room, and hose tower.


5300 S. Howell Ave., Milwaukee, WI 53207
(414) 747-4503

If you find yourself at the airport with some time to spend, stop by the Mitchell Gallery of Flight, where you’ll find aviation models and memorabilia, as well as educational information about planes and pilots.

12. Model Railroad Club of Milwaukee Inc.

215 E. National Ave. (built into a Canadian Pacific Railway bridge that spans the street)
(414) 425-8635

Model Railroad Club of Milwaukee Wisconsin
Photo Credit: historicmilwaukee.org

Hidden gem alert! Built in 1916 by the Milwaukee Road as a bridge station, the location was abandoned and converted into the club’s venue in 1936. It is the longest running model railroad club in the same location in the US. Many of the original features are still intact, including subway tile, tin ceiling panels, and some steam heat fixtures. The models inside are built to ¼-inch scale, some dating back to pre-WWII.

The club is open to visitors the last Sunday afternoon of each month, between about 1 p.m. and 3 p.m. If that day falls on a holiday, or within a four-day weekend, the club is not open, and it is not open during severe weather events in winter. Call ahead to confirm hours.

13. Wisconsin Museum of Quilts and Fiber Arts

N50 W5050 Portland Rd, Cedarburg, WI 53012
(262) 546-0300

The Wisconsin Museum of Quilts & Fiber Arts is located just east of historic downtown Cedarburg, and is dedicated to educating the public about the importance of quilts and fiber arts. They offer family fun days throughout the year, as well as summer camp.

14. Museum of Wisconsin Art

205 Veterans Ave., West Bend, WI 53095
(262) 334-9638

Wisconsin Museum of Quilts and Fabric Arts Cedarburg
Photo Credit: Facebook, @MuseumofWiArt 

The Museum of Wisconsin Art (MOWA) explores the art and culture of Wisconsin with over 5,000 works of contemporary and historic art by more than 350 artists.

West Bend is about a 40 minutes drive from Milwaukee, making this one of our favorite day trips from Milwaukee.

The 32,000-square-foot modern facility is located along the river in downtown West Bend, and houses five permanent collection galleries, three temporary exhibition spaces, and two classrooms, as well as visible art storage, a shop, and a large atrium for public events.

Check online for family programming, including Studio Saturdays + Monthly Maker Kits.


15. National Bobblehead Hall Of Fame & Museum

170 S. 1st St., 2nd Floor, Milwaukee, WI 53204
(800) 414-1482

This one-of-a-kind museum houses the world’s largest collection of bobbleheads from all genres and periods, plus dozens of exhibits related to the history of bobbleheads, the making of bobbleheads, and more.

16. North Point Lighthouse

2650 N. Wahl Ave., Milwaukee, WI 53211
(414) 332-6754

North Point Lighthouse Milwaukee Wisconsin
Photo Credit: Facebook, @northpointlighthouse

The North Point Lighthouse is home to a charming, recently renovated museum, where you can learn about maritime history, see artifacts from ships that sailed Lake Michigan, and learn about the keepers who maintained the lighthouse (there are some real characters there!).

Climb the 74-foot tall tower for a spectacular 360° view of Lake Park, Lake Michigan and downtown Milwaukee. Kids must be at least 38 inches tall to climb the tower.

The museum is located between two ravines in Lake Park on a two-acre semi-wooded parcel, and is one of the oldest structures that stands in the now-urban area.

It’s open Saturdays and Sundays year-round from 1 p.m. to 4 p.m.

17. Pabst Mansion

2000 W. Wisconsin Ave., Milwaukee, WI 53233
(414) 931-0808

Pabst Mansion Milwaukee Wisconsin
Photo Credit: Facebook, @pabstmansionmke

Visit the home of Captain Frederick and Maria Pabst, built in the 1890s for $254,000 as a testament to America’s Gilded Age.

The Pabsts became consummate art collectors, filling their mansion with priceless treasures, and they hosted many fine parties and receptions. Between 1908 and 1975, the mansion was the archbishop’s resident and the center of the Roman Catholic Archdiocese of Milwaukee.

When it was sold in 1975, the mansion was nearly torn down to make way for a parking lot for a neighboring hotel.

After a three-year crusade for its preservation, it was spared demolition and went on to become an award-winning house museum. The Mansion was placed on the National Register of Historic Places on April 21, 1975.  

On Saturday mornings, you can opt for a family-friendly guided tour, abbreviated half-hour tour designed for families with young children (kids get in free!).

18. Spinning Top & Yo-Yo Museum

533 Milwaukee Ave., Burlington, WI 53105
(262) 763-3946

***The museum is temporarily closed for remodeling, but the toy shop is open.***

Located in downtown Burlington, the Spinning Top and Yo-Yo Museum is a combination of a program, tour and hands-on games. You’ll see more than 2,000 tops, yo-yos, and gyroscopes, ongoing videos, and I Spy Hunt, and a live presentation. You must call ahead to reserve a spot!

19. Waukesha County Historical Society & Museum

101 W. Main St., Waukesha, WI 53186
(262) 521-2859

Founded in1914, the Waukesha County Historical Society & Museum in downtown Waukesha, tells the stories of earliest contact between Native Americans and European and American settlers, the rock and roll legacy of Les Paul, and more. They offer activities for kids & families throughout the year.

20. Wisconsin Automotive Museum

147 N. Rural St., Hartford, WI 53027
(262) 673-7999

History comes alive at Wisconsin’s largest auto museum, with an ever-changing display of classic and vintage autos and artifacts, and a striking art deco interior. The museum is also home to the 1913 #1003 Soo Line steam locomotive, along with other railroad artifacts.

21. Selfie Museums

One of the latest trends to hit the city is the rise of ‘selfie museums’ – interactive art installations that provide the perfect backdrop for capturing the ultimate Instagram-worthy shot.

But these museums aren’t just for adults – they’re a hit with families and kids too!

Here are 2 Milwaukee Selfie Museums your kids will love.

50 Top Attractions in Milwaukee, Wisconsin

25 Wisconsin Children’s Museums Your Kids Will love

Selfie Museums in Milwaukee Your Kids Will Love

6 Living History Museums Around Milwaukee

20 Kid-Friendly Tours and Tastings in Milwaukee

Here’s What You’ll Find at the Museum of Wisconsin Art in West Bend

Old World Wisconsin Offers Unplugged Adventure for Families

Related Posts