25 Kid-Friendly Restaurants Around Milwaukee (2024)

Let’s face it. Dining out with kids can be a challenge.

Their attention spans are, well, limited. And meltdowns happen to the best of us.

But that doesn’t mean you have to avoid taking your kids out to eat.

Sometimes it’s just a matter of finding a place where you and your littles can feel welcome.

We found more than 30 of the best places in the Milwaukee area that are locally-owned AND serve up good food, even on the kids menu.

From downtown Milwaukee to the surrounding suburbs, these fun restaurants do their best to help all their guests (big and little) feel at home.

Whether they have a playroom, a handy coloring sheet, or just a really friendly wait staff, our team and readers have identified the following restaurants as A-OK for the whole family.

Bon appetit!

1. SafeHouse

Location: Top Secret (Okay, okay. It’s 779 N. Front St., Milwaukee, WI 53202)

safehouse milwaukee

This spy-themed Milwaukee institution is welcoming to kids and families before 8:00 p.m., and they create an exciting junior spy experience perfect for kids of all ages.

2. Don’s TV & Repair

1100 S 1st St, Milwaukee, WI 53204

Don’s TV & Repair is a playful and secretive speakeasy disguised as an old-fashioned TV repair shop. With eye-popping milkshakes and authentic 90’s decor, this unique eatery is a treasure trove of nostalgia.

3. Organ Piper Pizza

Organ Piper Pizza is not your ordinary pizza joint – it’s a slice of local history and whimsical fun that’s perfect for a family fun night out. This joyful restaurant has been delighting families and music lovers in Milwaukee for years.

4. Peanut Butter & Jelly Deli

6125 W Greenfield Ave, West Allis, WI 53214

Located in the Six Points neighborhood of West Allis, the Peanut Butter and Jelly Deli takes the simple pleasure of peanut butter and jelly to a whole new level with classic and gourmet twists that will have both kids and adults coming back for more.

5. 3rd Street Market Hall

275 W. Wisconsin Ave., Milwaukee, WI 53203

What used to be the first Gimbel’s Department Store and later the Schlitz Palm Garden is now 3rd Street Market Hall, buzzing with Milwaukeeans of all ages who come for the food and stay for the fun and games.

With a variety of food options for the whole family, yard games like cornhole and shuffleboard, and a small kids play area, it’s perfect for all ages to enjoy.

6. AJ Bombers

1247 N. Water St., Milwaukee, WI 53202
(414) 221-9999

kids eating at AJ Bombers in Milwaukee Wisconsin
Photo Credit: Facebook, @AJBombersMKE

This downtown Milwaukee burger joint actually allows you to write on the wall with markers, which is great news for any family with young kids. There are all kinds of kitschy decorations to keep you entertained. Don’t miss the peanut delivery system that sends you peanuts through a rocket tube near the ceiling. Get a free burger on your actual birthday!

7. BelAir Cantina

1935 N. Water St., Milwaukee, WI 53202
2625 N. Downer Ave., Milwaukee, WI 53211
6817 W. North Ave., Wauwatosa, WI 53213
410 W. Town Square Way, Oak Creek, WI 53154
250 High St., Brookfield, WI 53045

This modern Mexican restaurant has a few locations around the Milwaukee area, and they offer a special “niños” menu on a coloring and activity sheet for the kids.

8 Café Hollander

2608 N. Downer Ave., Milwaukee, WI 53211
7677 W. State St., Wauwatosa, WI 53213
20150 Union St., Brookfield, WI 53045

Cafe Hollander in Brookfield Wisconsin
Photo Credit: Facebook, @HollanderBrookfield

Lowlands Group restaurants strive to bring the Dutch concept of “gezellig” to their restaurants, which is roughly translated as a cozy atmosphere or the warm feeling you get when spending time with friends.

Their food is made from scratch, often organic, and they use Wisconsin suppliers for many products. There is no high fructose corn syrup in their food, and their beef is grass-fed and grain-finished with no antibiotics. They have plenty of vegetarian and gluten-free options, and every choice on the kids’ menu comes with fresh fruit and vegetables.

9. Classic Slice

2797 S. Kinnickinnic Ave., Milwaukee, WI 53207
(414) 238-2406

Classic Slice is indeed a Bay View classic. The slices are so huge they can probably feed more than one child! There are always plenty of families in this casual pizzeria, so you won’t get the evil eye when your toddler throws a fork across the room.

10. Lakefront Brewery

1872 N Commerce St, Milwaukee, WI 53212

Make an early reservation for the Friday fish fry at Lakefront Brewery, a craft brewery located along the Milwaukee River.

Your kids will love the polka music, dancing, and delicious food. Our readers highly recommend it!

11. Milwaukee Public Market

400 N. Water St., Milwaukee, WI 53202
(414) 336-1111

You can sit upstairs at the Milwaukee Public Market for a fun view.

You won’t have to worry about keeping your kids still and quiet at the bustling Milwaukee Public Market, though you will have to deal with some crowds. The best part? You’ll find lots of different food options to please everyone’s pallet, and you can eat in the casual dining area upstairs.

You’ll find a local coffee shop, artisan cheese and sausage, fresh fish, soups and salads, a variety of ethnic food options, and an amazing bakery. Don’t miss the vegan restaurant with a real vintage bus.

It’s also one of the Hot Cocoa Stops along the Hop Streetcar Route!

12. Miss Katie’s Diner

1900 W. Clybourn St., Milwaukee, WI 53233

Milwaukee’s original 50’s diner, located two blocks west of Marquette University campus, has hosted Hillary Clinton, Bill Clinton, Michelle Obama, Henry Winkler, and more legendary figures. They serve breakfast, lunch and dinner seven days a week.

13. Oscar’s Frozen Custard

2362 S. 108th St., Milwaukee, WI 53227
7041 South 27th St., Franklin, WI 53132
21165 E. Moreland Blvd., Waukesha, WI 53186

Frozen custard joints are always a safe bet for kid-friendly cuisine in the Milwaukee area, and Oscar’s delivers at three different locations. The Franklin location has a model train setup that will delight young children.

12. Transfer Pizzeria

101 W. Mitchell St., Milwaukee, WI 53204
(414) 763-0438

The love of pizza knows no age or size! This establishment welcomes all ages through their doors. Everyone can order their own personal pizza, so there’s no quibbling over toppings.

14. Uncle Wolfie’s Breakfast Tavern

234 E Vine St, Milwaukee, WI 53212

Photo Credit: Instagram, @unclewolfies

A cozy, tucked away, brunch spot in Brewers Hill. The coloring page is a separate menu for little ones inspired by the Owners’ memories of family dinners out.

15. Zócalo Food Park

636 S. 6th St., Milwaukee, WI 53204
(414) 433-9747

Zocalo Food Park food trucks and vendors Milwaukee Wisconsin
Photo Credit: Facebook, @ZocaloFoodPark

Milwaukee’s first and only food truck park, Zócalo has something for everybody. The name Zócalo is Spanish for “plaza” or “town square.” It’s a gathering place where everyone belongs. The expansive patio is the perfect spot to snag a seat and enjoy some global cuisine.


15. Highland House

12741 N. Port Washington Rd., Mequon, WI 53092
(262) 243-5844

Highland House in Mequon Wisconsin
Photo Credit: Facebook, @HighlandHouseMequon

Feast on Carribean-style fare with a carefree island atmosphere and plenty of food options for all ages. There is even a video game room for antsy kids and adults. It’s just one mile north of North Shore Cinema, making it the perfect stop before or after a movie with your kids.

16. Bavarian Bierhaus

700 W. Lexington Blvd., Glendale, WI 53217
(414) 236-7000

On Tuesdays, kids 12 and under eat FREE at this longstanding German restaurant nestled in Old Heidelberg Park (one free kids’ menu meal with the purchase of each Adult Bavarian Specialties Entrée).

They also host Kid Boogie Down dance parties throughout the year!

17. Dr. Dawg

6969 N. Port Washington Rd #100, Glendale, WI 53217
853 N Mayfair Rd, Wauwatosa, WI 53226

puppy dawg trio at Dr. Dawg in Wauwatosa Wisconsin
Photo Credit: Facebook, @drdawgwauwatosa

With locations in Glendale and Wauwatosa, Dr. Dawg is a quick, casual place for burgers & Chicago-style hot dogs. The menu features “Puppy Dawgs” for patrons of all ages. They are slider-sized franks, available with a variety of toppings. Mix and match different styles for a trio, or buy them buy the half dozen or dozen so everyone in the family can sample.

18. Mineshaft

22 N. Main St., Hartford, WI 53027
(262) 673-5416

arcade games at Mineshaft in Hartford Wisconsin
Photo Credit: Facebook, @MineshaftRestaurant

Your kids will love exploring the 5,000-square-foot game room, and you’ll love the family specials and Just for Kids menu. Sunday Brunch (8 a.m.-2 p.m.) features bacon, sausage, scrambled eggs, mashed potatoes and gravy, vegetables, assorted salads, bread pudding, fresh fruit, homemade bakery and desserts, and pancakes made to order.

19. Pizza Crafters

N56 W15560 Silver Spring Dr., Menomonee Falls, WI 53051
(262) 781-9400

This fun and healthy pizza buffet committed to using simple, local ingredients. Kids can create their own masterpieces on the chalkboard wall.

20. Sprecher Brewing Outdoor Oasis

2200 W. Bender Rd., Glendale, WI 53209

Who doesn’t love a root beer float? Sprecher Outdoor Oasis is an outdoor beer garden located at the Richard E. Maslowski Community Park. It’s a family-friendly beer garden with award-winning Sprecher beverages and a food menu filled with everyone’s favorites.

Just off the Oak Leaf Trail, this full-amenity location also offers a possibility playground, indoor restrooms, a war memorial, baseball fields, and the Johnson Controls Outdoor Amphitheater.

Note: Opens for the season on June 1, 2022.

21. Wisconsin Big Boy

N63 W23675 Main St, Sussex

Photo Credit: Washington County Insider

Remember going to Big Boy as a kid? Well, it’s back in Wisconsin! Hours are 11 a.m.-9 p.m. Tuesday through Saturday (closed on Monday). Wednesdays are Classic Car Nights.

22. Hubbard Park Lodge

3565 N. Morris Blvd., Milwaukee, WI 53211
(414) 332-4207

Hubbard Park Lodge in Shorewood Milwaukee Wisconsin
Photo Credit: Facebook, @hubbardlodge

Located in picturesque Hubbard Park on the Milwaukee River, their Sunday Lumberjack Brunch is an all-you-can-eat buffet that includes pancakes, eggs, carved ham, chicken and waffles, biscuits and gravy, frittata, Door County cherry French toast bake, cheesy hashbrowns, breakfast sausage and bacon. There’s even a made-to-order omelette bar! All meals are served with homemade doughnuts and fresh fruit. The log cabin feel is cozy and inviting for your whole family.

How to get there: Bike there via the Oak Leaf Trail, or park in the lot at the intersection of North Morris Blvd. and E. Menlo Blvd. Access the park and lodge through a pedestrian tunnel running under the Oak Leaf Trail. Your kids will love this short nature walk, and you’ll get to burn off some extra calories on the way home.


22. Centraal Grand Café & Tappery

2306 S. Kinnickinnic Ave., Bay View, WI 53207
(414) 755-0378

Centraal Grand Cafe and Tappery in Milwaukee Wisconsin
Photo Credit: Facebook, @CafeCentraalMKE

The menu here features fresh ingredients, many of which are sourced from local purveyors and farmers. They sometimes host kid-friendly events, and the kids’ menu is delivered on a fun activity/coloring sheet to keep your little ones busy. Outdoor dining options include a courtyard and a streetcar that can be reserved for private groups of 6-8 people (beverage package included).

23. Fish Fry in the Parks

Whitnall Park Golf Clubhouse
Grant Park Golf Clubhouse

During the warm weather months from Memorial Day through Labor Day, you can have your Friday night fish fry in the beautiful surroundings of the Milwaukee County Parks.

24. Georgie Porgie’s Treefort

9555 S. Howell Ave., Oak Creek, WI 53154
(414) 571-9889
Facebook Page

kids eating at Georgie Porgie's Treefort in Oak Creek Wisconsin
Photo Credit: Facebook, @GeorgiePorgiesOakCreek

Burgers and frozen custard served in a unique, family-friendly treefort atmosphere.


25. Organ Piper Pizza

4353 S. 108th St., Greenfield, WI 53228
(414) 529-1177

organist at Organ Piper Pizza in Greenfield Wisconsin
Photo Credit: Facebook, @organpiperpizza

This Milwaukee landmark, opened in 1976, boasts delicious thin crust pizza and the country’s finest organists to entertain you. (Did you know that one of the organ players here is also the organ player at Miller Park?) There is also an arcade and a small merry-go-round. This place is known for being boisterous and noisy, so your kids will likely fit right in!

26. Original Pancake House

16460 W. Bluemound Rd, Brookfield, WI 53005
(262) 797-0800

Expect fresh orange juice, great coffee, friendly servers, especially delicious pancakes, and omelets larger than your head. There are always plenty of families here, plus comfortable large booths to accommodate squirmy kids. They offer coloring sheets for children and kids’ meals.

27. North Star American Bistro

19115 W. Capitol Dr. #100, Brookfield, WI

Enjoy traditional American favorites along with more sophisticated fare at this upscale but casual eatery. There’s a separate family dining room and a full children’s menu.

28. The Chocolate Factory

W62 N577 Washington Ave., Cedarburg, WI 53012
3230 Golf Rd., Delafield, WI 53018
13475 Watertown Plank Rd., Elm Grove, WI 53122
7963 S. Main St., Oak Creek, WI 53154
1077 Summit Ave., Oconomowoc, WI 53066
161 W. Wisconsin Ave., Pewaukee, WI 53072
2120 E. Moreland Boulevard, Waukesha, WI 53186
1402 S. Main Street, West Bend, WI 53095

This local chain offers fresh subs with warm crusty rolls and fresh, premium ingredients, plus a delicious homemade mayonnaise. Top it off with local Wisconsin ice cream or choose from a variety of sundaes. (If you love The Chocolate Factory, be sure to visit the airy Pewaukee location right along the beach on Pewaukee Lake.)

29. Kopps

18880 W. Bluemound Rd., Brookfield, WI 53045
5373 N. Port Washington Rd., Glendale, WI 53217
7631 W. Layton Ave., Greenfield, WI 53220

A local landmark, this frozen custard chain has not one but TWO flavors of the day. We dare you to pick only one!


Capri Di Nuovo
8340 Beloit Rd, West Allis, WI 53219
Kids get a small ball of pizza dough to play with while you wait for your food.

Cleveland Pub & Grill
14000 W. Cleveland Ave., New Berlin, WI 53151
Arcade games are available to occupy wiggly kids.

Delafield Brewhaus
3832 Hillside Dr., Delafield, WI 53018
The full kids’ menu includes a carnival corn dog, BBQ pork and a quesadilla.

Eagle Park Brewing Company

823 E Hamilton St, Milwaukee, WI 53202
Check out the hidden kid’s cabinet full of coloring books, crayons, and tiny toys.

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