Catherine - Savvy Family TravelLooking for adventure without having to stray too far from Milwaukee? Discover the best weekend getaways from Milwaukee for fun, relaxation, and memorable experiences with the whole family.
Here are many of our favorite charming cities, scenic state parks, and hidden gems throughout the Midwest.
Weekend Getaways from Milwaukee
Sheboygan
Sheboygan is one of the most affordable and laid back weekend getaways from Milwaukee. It sits on Lake Michigan about one hour from Milwaukee known for its beautiful beaches and arts scene. It’s honestly still a bit underrated!
Bookworm Gardens
Bookworm Gardens is a literary-themed children’s garden that brings your kids’ favorite stories to life. Kids will love exploring the interactive exhibits, while parents watch their imagination explode.
Blue Harbor Resort
If you’re looking for an ultra fun spot to stay, Blue Harbor Resort offers loads of fun for families. It’s indoor water park is a blast, plus the resort sits right on Lake Michigan’s shoreline with a beautiful beach. Across the street is a fun and affordable mini golf course too.
John Michael Kohler Arts Center
The John Michael Kohler Arts Center is a free art museum offers interactive exhibits and a makers’ space for kids.
Families can explore the museum’s rotating contemporary art installations and even participate in creative workshops together. It’s a great way to introduce children to the world of art and creativity without feeling like you have to stay long to get your money’s worth. (If your family enjoys this museum, also check out the Art Preserve which is also free.)
Do NOT miss their imaginative, decked out bathrooms!
The Arts Center hosts live performances throughout the year as well, so be sure to check their schedule.
St. Louis
If St. Louis is on your list, I recommend giving yourself 5 days. Two of those days will be driving days as the city is about 5.5 hours from Milwaukee. But not to worry, there’s a ton to do along the drive to St. Louis! Here are a few of our favorite spots once you reach St. Louis and be sure to check out our full guide to St. Louis family fun.
Gateway Arch National Park
A monument built to celebrate America’s westward expansion, the Gateway Arch is a jaw dropping architectural feat and an engaging place to learn about American history. Many are surprised to find out that there is a museum (free) under the arch.
If you want to ride the tram to the top of the arch, be sure to book in advance. Here’s everything you need to know about visiting the arch with kids.
Busch Stadium MLB Game
Whether you can time your visit to see the Brewers take on the Cardinals or not, this stadium is fantastic for families! Snag a seat with a view of the arch behind home plate or on the first base side. The first base side is best for shade during day games.
Sundays are family day, so you can snag seats for about $8 each. In the Family Pavilion kids will enjoy Speed Pitch, a Soft-Play Play Area (wear socks if you want to use this) and a Play Structure. Nursing rooms and family restrooms are available here as well.
St. Louis Zoo
One of America’s top zoos, this one is FREE! It’s a joy to explore, so much so that we returned two more times on our visit St. Louis trip.
While the zoo has free admission, we still brought our Milwaukee Zoo Pass for 1/2 off a ride wristband. (Any AZA pass will work.)
See the Clydesdales
There are three ways you can get up close and personal with Budweiser’s famous Clydesdale horses.
- Book the Clydesdale VIP tour (kid friendly) at the Budweiser Brewery to tour the original stable and meet at least one of the horses.
- Visit Grant Farm (free, other than parking)
- Check the schedule for one of their traveling Hitches. We were lucky enough to catch them in the St. Patrick’s Day Parade on our last visit to St. Louis.
Madison
About 90 minutes west, Madison makes for one of the easiest weekend getaways from Milwaukee.
Log Rolling Classes
For a unique experience, try taking a log rolling class in Madison.
It’s a fun and challenging activity that promises laughs and encouragement from your peers. Whether you’re a beginner or a seasoned pro, you’ll have a blast learning this traditional lumberjack skill.
Vitense Golf
Families looking for some active fun will enjoy a visit to Vitense Golf, where you can play mini-golf, hit the driving range, or try your hand at the par-3 course.
They have 2 outdoor and 1 indoor mini golf courses.
Bike the HQ Campus of Epic
The Epic (healthcare software company) campus offers a unique biking experience with its scenic trails and whimsical sculptures.
Borrow the free adult bikes and explore the sprawling grounds any day of the week. It was designed by the architecture team responsible for Microsoft’s Campus and Disney World and takes you from Diagon Alley to Oz.
Make sure to bring helmets and kids’ bikes from home.
Indianapolis, IN
Indianapolis may be a bit farther, but it’s well worth the drive for families seeking a variety of new experiences.
Fair Oaks Farm
On the way down from Milwaukee, check out Fair Oaks Farm. Families can learn about agriculture, watch live demonstrations, and even meet some adorable farm animals. They did an excellent job gearing the exhibits toward kids, like incorporating Peppa Pig into the building about Pork. (OK as I type that, it’s slightly dark.)
Indianapolis Speedway
For car enthusiasts, the Indianapolis Speedway and museum is a must-visit. Take a tour of the iconic racetrack or even catch a race or test rides if you’re lucky.
Children’s Museum
The Children’s Museum of Indianapolis is one of the largest and most exciting children’s museums in the world. It’s impossible to see it all in a day, so be sure to plan out which exhibits are a priority for your kids. If you’re visiting in warmer months, don’t miss the outdoor sports complex.
Holland, Michigan
Holland, Michigan, is a charming town known for its Dutch heritage. It also makes a great hub for exploring more of Michigan and there is a lot to do on the drive for your weekend getaway from Milwaukee.
Scenic Stops Along the Way
On your way to Holland, consider stopping in St. Joseph, South Haven, and Saugatuck. Each of these towns offers something incredible, from sandy beaches like Oval Beach and South Beach to charming coffee shops like Flying Saucer Coffee.
Or try Michigan’s famous blueberries and explore the wine region of Southwest Michigan.
Windmill Island Gardens
Windmill Island Gardens is a picturesque park that showcases Holland’s Dutch heritage. Families can explore the beautiful tulip gardens and visit the authentic Dutch windmill.
New Holland Brewpub
For a taste of local flavor, head to the New Holland Brewpub. While the adults can sample craft beers, kids will love their children’s menu.
Day Trip to Grand Rapids
Consider spending a day in Grand Rapids, where you can visit Post Family Farm on the way. This charming farm offers hayrides, pumpkin patches, and delicious baked goods. You can also burn energy at Millennium Park.
In Grand Rapids, don’t miss the Children’s Museum or check out John Ball Zoo.
Area State Parks
For families who love the great outdoors, Wisconsin’s state parks offer endless opportunities for exploration and adventure. If your family enjoys camping getaways from Milwaukee, you may want to check out campgrounds at these State Parks within 90 minutes of MKE!
Kohler-Andrae State Park
Kohler-Andrae State Park boasts sandy beaches, scenic dunes, and tranquil hiking trails. It’s the perfect spot if you want a mix of city and natural attractions in the Sheboygan area.
Harrington Beach State Park
Harrington Beach State Park is another gem right on Lake Michigan. I grew up about a mile from this State Park and it remains one of my favorites.
Pike Lake State Park
Pike Lake State Park features a beautiful lake, sandy beach, and hiking trails. Families can swim, fish, or rent a paddleboat for a leisurely day on the water. This is a great spot for beach play as the lake is calm with shallow entry.
Spring Green & Mount Horeb Area
The Spring Green and Mount Horeb area is a haven for art enthusiasts, history buffs, and nature lovers. It’s a unique destination that’s sure to captivate families. You can easily day trip from here to more great sights like the Circus Museum and some natural wonders in the Baraboo area.
Trollway
The Trollway in Mount Horeb is a collection around town of quirky troll sculptures. Families can take a stroll and snap photos with these charming characters while exploring the town’s shops and cafes.
Taliesin
Taliesin, the home and studio of famed architect Frank Lloyd Wright. Families can learn about Wright’s life and work while appreciating the views of the Wisconsin River Valley.
American Players Theatre
For a unique cultural experience, attend a performance at the American Players Theatre. This outdoor theater company offers an exceptional lineup of classic and contemporary plays.
Cave of the Mounds
Cave of the Mounds is a natural limestone cave. Families can take guided tours through the cave’s impressive formations, learning about geology and the cave’s history.
House on the Rock
The House on the Rock is an eccentric attraction filled with bizarre collections you’d never think of. It’s a one-of-a-kind experience that you won’t soon forget.
Dubuque
Sitting on the Mississippi River, a Dubuque road trip has a lot to offer families seeking a weekend getaway from Milwaukee. On the way there, don’t miss the Toy Train Barn Museum!
River Museum and Aquarium
The National Mississippi River Museum and Aquarium has interactive exhibits, live animals, and engaging spaces for young kids. Be sure to ask about their Junior Ranger program.
Fenelon Place Elevator
For a unique experience, take a ride on the Fenelon Place Elevator, proclaimed as the world’s steepest and shortest scenic railway.
Field of Dreams Movie Site
Fans of the classic film “Field of Dreams” or baseball players will love visiting the movie site, where they can play catch on the iconic baseball diamond.
Minneapolis
Whether you visit Minneapolis in the summer or winter on your weekend getaway from Milwaukee, it’s packed with family fun.
Minnehaha Falls
Minnehaha Falls is a stunning waterfall located in the heart of the city. Families can explore the surrounding park, hike the trails, and enjoy a picnic by the falls.
Mall of America
The Mall of America is a shopping and entertainment mecca with endless fun for families. Some family favorites include SEA LIFE Aquarium, the Lego store, Ridemakerz, and of course the indoor amusement rides!
Minnesota Children’s Museum
The Minnesota Children’s Museum has ACM reciprocity if you have a Children’s Museum membership at home. My kids loved exploring, especially the massive Legos that they could build full size forts with.
Como Zoo & Como Town
Como Zoo is a free zoo with a diverse collection of animals and beautiful gardens. Next door is Como Town amusement park with affordable rides for all ages.
State Fair
The Minnesota State Fair is one not to miss if your trip overlaps with the event. We have a whole guide on how to enjoy this iconic fair with young kids.
Wisconsin Dells
A trip to the waterfall capital of the world is a blast any time of year. Here are some of our favorite things to do in Wisconsin Dells as a family.
Stay at a Resort with an Indoor Water Park
Kalahari, The Wilderness, and Great Wolf Lodge are the big three for us. Kalahari is a fun place to bring teens because they have the biggest slides. The Wilderness is fantastic for large groups (i.e. extended family or friends), and Great Wolf is the perfectly sized water park for young kids.
I typically can snag great deals the Sunday after Thanksgiving at Great Wolf Lodge and we get 2 days of waterpark play for a steal! Sign up for their email alerts to be notified of the $99 sale. (My kids are off that Monday.)
Train Delivered Food at Buffalo Phil’s
Even more enthralling than the train is admiring the elaborate Lego displays throughout the restaurant!
Before or after your meal, head behind the restaurant for a huge arcade with indoor carnival type rides as well. This spot is a must if the weather is bad or you’re visiting in the winter.
Ishnala Supper Club
Frequently named the #1 supper club in Wisconsin, Ishnala is a place you have to experience!
Open seasonally, you’ll want to arrive as soon as they open to get your name down for a table. Then, until your buzzer goes off, enjoy some drinks, appetizers, and enjoy the stunning views of Mirror Lake.
Pirate’s Cove Mini Golf
The best themed Mini Golf around, our kids ask to go back to this spot all the time!
Noah’s Ark
If you’re staying in the summer, you have the opportunity to visit the World’s Largest Water park, Noah’s Ark!
Door County
Door County is a picturesque peninsula known for charming towns, scenic landscapes, and fun on the water.
The Farm
The Farm is a hands-on agricultural experience where families can meet farm animals, learn about farming, and explore the grounds. Kids will love bottle feeding the baby goats.
Get on the Water
Go kayaking or rent a pontoon to take out on Sturgeon Bay. We found pontoon rentals to be very affordable through Door County Boat Rental. We paid about $150 for two hours which included gas.
Hike the Tower at Peninsula State Park
Peninsula State Park offers a variety of hiking trails, including the scenic and accessible tower hike. This State Park is a great place to enjoy on two wheels so be sure to pack or rent bikes for the family.
Eat Wilson’s Ice Cream and Watch the Sunset
A visit to Door County wouldn’t be complete without indulging in Wilson’s Ice Cream, especially at sunset.
Explore Cave Point
Cave Point County Park is a natural wonder with its rugged cliffs, clear waters, and scenic views.
Oshkosh & Appleton
Book lodging between Oshkosh and Appleton and you’ll have so many family friendly attractions within reach. We recommend this hotel in North Appleton because of its awesome pool.
Building for Kids Children’s Museum
A two story, beautiful Children’s Museum for kids up to about 10 years old. Kids even older may still enjoy their art studio upstairs.
This museum has reciprocity with MPM or any other ASTC membership.
EAA AirVenture Museum
The EAA AirVenture Museum is a must-visit for airplane and space travel enthusiasts.
Families can explore the impressive collection of aircraft, interactive exhibits, and flight simulators.
Menominee Park Beach and Zoo
Menominee Park offers a variety of outdoor activities, including a sandy beach, a large playground, and a small (free) zoo.
Ardy & Ed’s Drive-In
Ardy & Ed’s Drive-In is a classic 1950s-style drive-in restaurant. Families can enjoy burgers, shakes, and sundaes delivered on roller skates.
Rasmussen’s Apple Acres
Rasmussen’s Apple Acres is a charming apple orchard where each fall, families can pick their own apples, enjoy a hayride, and explore the farm.
Bubolz Nature Preserve
The Bubolz Nature Preserve has a children’s playground and kids will love spotting turtles at the pond! Be sure to wear shoes that can get muddy.
Wausau
Wausau is a picturesque city surrounded by natural beauty. It’s best enjoyed in the summer or fall months.
JoJo’s Jungle Playground
JoJo’s Jungle Playground is an epic playground with a splash pad. Don’t miss the small play structure with a built in Hot Wheels track! (Bring your own cars.) There’s lots of space for picnicking as well.
Rib Mountain State Park
Rib Mountain State Park has an observation tower, scenic picnic spots and a playground. Kids will enjoy climbing the massive boulders near the observation tower.
Hot Air Balloon Festival
The Taste n Glow Balloon Festival (July 11-12, 2025) on the outskirts of Wausau is a spectacular event featuring dozens of hot air balloons, live entertainment, and family-friendly fun. Seeing the balloon glow and the ascension are both hair raising experiences. You can even ride a tethered balloon for just $15.
My kids also loved the lumberjack shows, inflatables, and the craft tent. It was also a special treat for them to go around and meet the hot air balloon pilots who handed out trading cards with their balloon pictured.
It’s an affordable event to enjoy with the whole family.
Green Bay
IMHO Green Bay is way more fun with kids along.
Lambeau Field Tour
A tour of Lambeau Field is a must for sports fans and families alike. Explore the iconic stadium, learn about the Green Bay Packers’ history, and even step onto the field. 1919 Kitchen & Tap is a kid friendly restaurant off the main atrium.
Bay Beach Amusement Park
Bay Beach Amusement Park offers classic rides, games, and attractions for families to enjoy. From roller coasters to kiddie rides, there’s something for everyone and tickets are only 25 cents each! Even if this Amusement Park is closed when you visit, be sure to check out the new playground next to the park.
Titletown
Titletown is a lively entertainment district filled with restaurants, shops, and activities. Families can enjoy ice skating, sledding, and outdoor games in the winter or relax in the park during warmer months. It’s a vibrant hub of activity for all ages.
Bay Beach Wildlife Sanctuary
The Bay Beach Wildlife Sanctuary is a beautiful nature preserve with walking trails, wildlife exhibits, and educational programs. Families can explore the sanctuary’s diverse habitats, observe native animals, and participate in hands-on activities. It’s a peaceful and enriching experience.
National Railway Museum
Explore the impressive collection of locomotives, ride a train, and play at the kids spaces inside and out. (Free with ASTC membership reciprocity.)
Green Bay Botanical Garden
The Green Bay Botanical Garden has a fantastic children’s garden to explore! The best part is that if you’re visiting with another AHS membership, you’ll get in free! (i.e. Boerner Botanical or Mitchel Park Domes).
Chippewa Falls & Eau Claire
We highly recommend a Midwest road trip to Chippewa Falls in September or October.
Leinenkugel’s Brewery
Tour Leinenkugel’s Brewery for a taste of local craft beer and an insider’s look at the brewing process. Even if you skip the tour, hit the tasting room and enjoy the beer garden.
Olson’s Ice Cream
Olson’s Ice Cream is a beloved local favorite known for its creamy, delicious treats. Families can indulge in a wide variety of flavors, enjoying cones, sundaes, and shakes. It’s a sweet stop that delights kids and adults alike.
Big Falls County Park
Big Falls County Park is a scenic oasis offering hiking trails, picnicking, and beautiful waterfalls. Families can explore the park’s natural beauty, enjoy a refreshing swim, and relax by the water. It’s a peaceful escape that promises outdoor adventure.
Visit Eau Claire
Eau Claire is just 20 minutes from Chippewa Falls and worth the trip for their Sculpture Walk and the Eau Claire Children’s Museum. Try to catch their farmer’s market if you can!
Warren Cranberry Events
Did you know Wisconsin produces about half of the world’s cranberry crop?
The Warren Cranberry Festival celebrates region’s cranberry heritage and industry. You can sample and purchase cranberry products.
Or, our favorite cranberry experience, is to watch the harvest and wade in the bog with hip boots at Wetherby Farm. Their harvest dates do not typically coincide with the Festival in town.
Norske Nook
Norske Nook is a Norwegian bakery and restaurant with multiple locations in the area. Stop on the way to Chippewa Falls for a meal or at the very least a slice of one of their award-winning pies.
Chicago
While Chicago with kids may not be for everyone, we find it a treat to explore their world class museums as a family. That said, parking is an absolute nightmare unless you’re ready to drop $30 on a parking structure.
Museum of Science and Industry
The Griffin Museum of Science and Industry has tons to captivate guests of all ages.
My little kids really enjoy the Great Train Story model trains, the sub, the suspended aircraft in the Transportation Gallery, Colleen Moore’s Fair Castle, the farm equipment, and the world’s largest pinball machine which is right in the dining area. (You can carry in lunches.)
Shedd Aquarium
The Shedd Aquarium offers a mind boggling collection of sea life from dolphins to a 500 pound giant clam that once belonged to my brother-in-law! True story – a pet store had mis-classified its species as as his clam continued to grow and grow, he was inclined to donate to Shedd.
Ice Cream Museum
At the Ice Cream Museum families can explore the creative exhibits, sample delicious treats, and even create their own ice cream concoctions.
Lincoln Park Zoo
Lincoln Park Zoo is a free, family-friendly zoo with a nostalgic carousel ride.
Maggie Daley Park
Maggie Daley Park is located just east of the “bean”. There are so many things here to captivate kids, like playgrounds, climbing walls, and a skating ribbon.
Chicago Suburbs
If you’re looking for a slower pace, escape to Chicago’s suburbs. We revisited this area two years in a row after falling in love with Morton Arboretum’s Children’s Garden and finding so much to do in the burbs!
We like to stay at this Hyatt Place as our home base to explore the area. We hit Schaumburg either on the way to or from Milwaukee.
Schaumburg
One of my boys’ favorite things we did in Schaumburg was the Radio Flyer Store’s “race track”. Kids can ride on power wheels at the back of the store for a small fee.
A great Indoor Water Park in the area is called Water Works. Bring your own towels.
Bison Bluff Playground is a fun local spot for outdoor play. Or if you want more thrill factor, head a bit west of Schaumburg for Santa’s Village Amusement & Water Park.
Downers Grove
Morton Arboretum is not to be missed. Their Children’s Garden offers hours and hours of exploration and play. Creeks to splash in, a tadpole pond, play structure, and more. We typically get so enthralled here we don’t spend a lot of time in the other magical sections of the park, but the kids did like the Hedge Maze and western trails.
Chicagoland Raceway is a great spot for car loving kids! They can race slot cars or Hot Wheels cars.
If you want an active adventure, head over to Go Ape Zipline and Adventure Park. Or if the weather is bad, head indoors to Galloping Ghost Arcade.
West Chicago
Find a magical indoor playground at TreeTop Escape or in the summer check out their Turtle Splash Water Park (deep discounts if you come at the end of the day).
Closing Thoughts on Getaways from Milwaukee
We hope one of these destination previews provided some inspiration for your weekend getaways from Milwaukee! If you’re looking for more details, look for the hyperlinks above to take you to full guides.
You may also be interested in our suggested Midwest Road Trips which features a trip to Mackinac Island or in our Milwaukee to Duluth drive.
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Catherine – Savvy Family Travel
My favorite pastime is finding fun, interesting experiences to share with family and friends.
I’m a mom of two energetic and curious boys who have endless patience with my tendency to over plan activities on our family vacations. My tireless husband, Troy, provides comic relief, is our favorite photographer, and expert navigator.
I’m a firm believer that travel with kids doesn’t have to be intimidating or expensive. It can be affordable, epic, and, dare I say, even relaxing!
Are you a travel loving parent too? I’d love to meet you, please reach out via Messenger and say “hi!”
Disclosure: I only recommend products I would use myself and all opinions expressed here are my own. This post may contain affiliate links on which (at no additional cost to you) I may earn a small commission. I promise to use any kickback to explore more of our incredible world. Read full privacy policy here.