Planning a family getaway to southeastern Wisconsin? Milwaukee and Waukesha County are packed with family-friendly museums that blend learning, creativity, and hands-on fun for kids of all ages. From interactive science centers and children’s museums to world-class art, music, and local history, this region offers some of the best museums in Wisconsin for families - rain or shine.
Whether you’re traveling with toddlers, school-age kids, or teens, this guide highlights must-see museums that make your family trip both memorable and meaningful.
Best Family-Friendly Museums in Milwaukee
Milwaukee Public Museum
One of the most beloved museums in Milwaukee, the Milwaukee Public Museum delivers immersive experiences for all ages. Families can stroll through the iconic Streets of Old Milwaukee, explore natural history exhibits, and discover cultures from around the world. It’s an ideal half-day attraction and a top choice for rainy day activities in Milwaukee.
Discovery World at Pier Wisconsin
Located along Lake Michigan, Discovery World is one of the top hands-on science museums in Wisconsin. With interactive STEM exhibits, Great Lakes education, and engaging technology displays, it’s especially popular with elementary-aged kids and teens who love to learn by doing.
Betty Brinn Children’s Museum
Traveling with younger children? The Betty Brinn Children’s Museum is a must-visit. Designed for early learners, this museum focuses on creativity, problem-solving, and imaginative play in a bright, welcoming environment—making it one of the best children’s museums in Milwaukee.
Harley-Davidson Museum
An iconic Milwaukee attraction, the Harley-Davidson Museum tells the story of American innovation and design. While it’s a favorite for adults and teens, many families are pleasantly surprised by the interactive elements and engaging exhibits—even if motorcycles aren’t typically on your radar.
Milwaukee Art Museum
Known for its stunning lakefront architecture and rotating exhibitions, the Milwaukee Art Museum adds a cultural dimension to any family trip. It’s a great stop for art lovers and families looking to balance hands-on attractions with visual inspiration.
Top Museums in Waukesha County
Waukesha County Historical Society & Museum
Housed in a historic courthouse in downtown Waukesha, the Waukesha County Historical Society & Museum showcases local history and features the nationally recognized Les Paul exhibit, honoring the legendary musician and inventor who called Waukesha home.
Old World Wisconsin
One of the best outdoor museums in Wisconsin, Old World Wisconsin brings 19th-century life to life through historic farmsteads, costumed interpreters, and hands-on activities. Families love the open-air setting and interactive learning opportunities.
Horwitz DeRemer Planetarium
A hidden gem in Waukesha County, the Horwitz DeRemer Planetarium features engaging astronomy shows that are perfect for families, school-age kids, and anyone fascinated by space.
Where to Stay Near Milwaukee & Waukesha Museums
When you’re exploring museums across Milwaukee and Waukesha County, The Ingleside Hotel and Springs Water Park puts you close to it all—while offering built-in fun the whole family will love.
Why Families Choose The Ingleside Hotel:
- Springs Water Park with 45,000 square feet of year-round aquatic fun
- Spacious guest rooms perfect for families
- The Experience Ingleside Program
- Easy access to I‑94 and top area attractions
After a full day of museum hopping, kids can splash and play at the water park while parents relax—creating the perfect balance of adventure and downtime.
Plan Your Family Museum Getaway
From interactive children’s museums and hands-on science centers to historic landmarks and inspiring art museums, Milwaukee and Waukesha County offer something for every family. Pair your museum adventures with a stay at The Ingleside Hotel and Springs Water Park, and enjoy a getaway that blends learning, fun, and relaxation.
Book your stay at The Ingleside Hotel today and start planning your family-friendly museum getaway in southeastern Wisconsin.