Family-Friendly Road Trip Itinerary in Milwaukee, WI

Day 1: Exploring Downtown

Milwaukee, WI

8:00AM

Breakfast at Blue's Egg

Start your day with delectable morning fare at Blue's Egg, known for its creative takes on classic breakfast dishes.
Drive to ancient downtown for stunning views.
USD20, 1.5 hours

10:00AM

Visit the Milwaukee Art Museum

Discover the impressive architecture and vast art collection at the Milwaukee Art Museum—perfect for family pictures.
Walk from breakfast location to the museum.
USD0 (children under 18 are free), 2 hours

12:30PM

Lunch at Milwaukee Public Market

Enjoy a casual lunch at Milwaukee Public Market, where everyone can choose from a variety of artisanal food vendors.
Drive about 10 minutes from the Art Museum.
USD50, 1 hour

2:00PM

Stop by Discovery World

Engage with interactive exhibits at Discovery World—a perfect afternoon for kids to learn and play.
Just a 5-minute drive from the Market.
USD30, 2 hours

4:30PM

Walk along the Lakefront

Take a leisurely stroll along Lake Michigan for beautiful views and a relaxing family experience.
Walk from Discovery World, about 10 minutes.
USD0, 1 hour

6:00PM

Dinner at SafeHouse

Wrap up your day with a fun dining experience at SafeHouse, where the spy-themed ambiance is sure to delight kids and adults alike.
Drive 10 minutes back to the restaurant.
USD70, 1.5 hours
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Day 2: Outdoor Adventures

Milwaukee, WI

8:00AM

Breakfast at The Coze

Start the day with a cozy breakfast at The Coze, offering delicious omelets and freshly brewed coffee.
Drive approximately 10 minutes.
USD40, 1 hour

9:30AM

Visit Boerner Botanical Gardens

Explore the beautiful landscapes and themed gardens, an ideal spot for family pictures and enjoyment.
A 20-minute drive from breakfast.
USD15, 2 hours

12:00PM

Picnic Lunch at the Gardens

Enjoy a prepared picnic lunch amid the beauty of the gardens, with food you picked up earlier.
Enjoy lunch right at the gardens.
USD20, 1 hour

1:00PM

Explore Whitnall Park

Venture into Whitnall Park for hiking and exploring trails; dogs are welcome to join the adventure.
Drive 10 minutes to the park.
USD0, 2 hours

3:30PM

Ice Cream at Kopp's Frozen Custard

Cool off with a famous frozen custard treat after your outdoor adventures.
10-minute drive from the park.
USD25, 1 hour

5:00PM

Dinner at Cork & Barrel

Savor farm-to-table dining at Cork & Barrel, with an emphasis on fresh ingredients and local flavor.
A 15-minute drive to the restaurant.
USD80, 1.5 hours
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Day 3: History & Culture

Milwaukee, WI

8:00AM

Breakfast at Egg & Flour

Delight in fresh pasta dishes combined with breakfast at Egg & Flour—perfect to fuel your day.
Drive about 15 minutes.
USD35, 1 hour

9:30AM

Visit the Harley-Davidson Museum

Steep yourselves in Milwaukee's rich motorcycle heritage at the Harley-Davidson Museum, featuring classic bikes and exhibits.
Just a few minutes' drive from breakfast.
USD20, 2 hours

12:00PM

Lunch at The Landing Restaurant

Enjoy lakeside dining at The Landing, a scenic stop for your midday meal.
Drive 10 minutes for the view.
USD60, 1 hour

1:30PM

Explore the Milwaukee County Historical Society

Learn about Milwaukee's past with interactive exhibits and programs that entertain family members of all ages.
Just a short drive from lunch.
USD10, 2 hours

4:00PM

Visit Mitchell Park Domes

Enjoy the unique plant collections and intricate glass domes that offer a glimpse into diverse ecosystems.
Drive about 15 minutes to the domes.
USD15, 1.5 hours

5:30PM

Dinner at Balistreri's Italian American Ristorante

Taste classic Italian fare at Balistreri's—a family favorite for generations.
A quick drive from the domes.
USD70, 1.5 hours
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Day 4: Nature & Wildlife

Milwaukee, WI

8:00AM

Breakfast at Lazy Susan's Café

Start your day with delicious breakfast options including pancakes at Lazy Susan's Café.
Drive about 15 minutes to the café.
USD40, 1 hour

9:30AM

Visit the Milwaukee County Zoo

Explore the treasures of the Milwaukee County Zoo, with engaging animal exhibits that will entertain kids.
Drive 20 minutes to the zoo.
USD40, 3 hours

1:00PM

Lunch at Zoofari Cafe

Grab a quick and family-friendly lunch at the Zoofari Cafe inside the zoo.
Enjoy lunch within the zoo premises.
USD50, 1 hour

2:30PM

Kayaking on the Milwaukee River

Spend the afternoon kayaking on the Milwaukee River for a fun family adventure in nature.
Drive back to the downtown area (20 min).
USD80 (for family rental), 2 hours

5:00PM

Dinner at The Bartolotta Restaurants

Enjoy a delightful dinner at one of Bartolotta’s exquisite locations, well known for their diverse menu and charm.
Approach nearby restaurant after kayaking.
USD90, 1.5 hours
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Day 5: Art & Entertainment

Milwaukee, WI

8:00AM

Breakfast at Camino

Start your day with breakfast tacos and smoothies at Camino, perfect for a light and fresh meal.
Drive 15 minutes to reach.
USD30, 1 hour

9:30AM

Visit the Milwaukee Public Museum

Uncover the wonders of science, history, and nature at the Milwaukee Public Museum with engaging exhibits for the whole family.
Drive about 10 minutes.
USD30, 2 hours

12:00PM

Lunch at Mader's Restaurant

Savor classic German fare at Mader's, a beloved Milwaukee establishment.
Just a short drive from the museum.
USD60, 1 hour

1:30PM

Explore the Pabst Mansion

Step back in time with a tour of the historic Pabst Mansion, showcasing Milwaukee's brewing history.
Drive 10 minutes to the mansion.
USD25, 1.5 hours

3:30PM

Visit the Milwaukee Symphony Orchestra

Check if there is a family-oriented concert and enjoy an afternoon of music at the Milwaukee Symphony.
Drive 10 minutes to the venue.
USD50, 1.5 hours

6:00PM

Dinner at The Capital Grille

Indulge in a fine dining experience at The Capital Grille, renowned for its exceptional steak and seafood.
Drive 10 minutes to reach the restaurant.
USD90, 2 hours
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Day 6: Relaxation & Leisure

Milwaukee, WI

8:00AM

Breakfast at The Good Land Kitchen

Enjoy a hearty breakfast at The Good Land Kitchen, with classic American dishes and a focus on fresh ingredients.
Drive about 15 minutes away.
USD40, 1 hour

9:30AM

Visit the Lakefront Brewery

Take a fun brewery tour suitable for all ages, where families can learn about the brewing process and taste root beer.
Drive 10 minutes to the brewery.
USD20 (family rate), 1.5 hours

11:00AM

Relax at South Shore Park

Unwind and let the kids play at South Shore Park, known for its stunning views of Lake Michigan.
Just a short drive from the brewery.
USD0, 2.5 hours

1:30PM

Lunch at 88.9 Radio Milwaukee Café

Enjoy a relaxed lunch at 88.9, featuring locally sourced ingredients and a welcoming atmosphere.
A quick drive nearby.
USD50, 1 hour

3:00PM

Visit the Milwaukee Art Museum

If you didn't get enough last time, capture more of the beauty and creativity at the Milwaukee Art Museum.
10-minute drive to the museum.
USD15, 1.5 hours

5:00PM

Dinner at Frankly Pizza

Finish the day with delicious pizza at Frankly Pizza, where everyone can choose their favorite toppings.
Short drive from the art museum.
USD50, 1.5 hours
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Day 7: Farewell Milwaukee

Milwaukee, WI

8:00AM

Breakfast at Anodyne Coffee Roasting Company

Savor healthy breakfast options and amazing coffee to fuel your final Milwaukee day.
Drive in about 10 minutes.
USD30, 1 hour

9:30AM

Explore the Milwaukee RiverWalk

Take a stroll down the scenic Milwaukee RiverWalk, experiencing local shops and public art installations along the way.
Drive 5 minutes to reach the area.
USD0, 2 hours

12:00PM

Lunch at The Milwaukee Ale House

Enjoy a casual lunch with craft beers and a great view of the river.
Walk a short distance along the RiverWalk.
USD70, 1 hour

1:30PM

Visit the Betsy Ross House

End your trip with a unique experience at the Betsy Ross House, exploring the history of this notable site.
Drive about 10 minutes.
USD10, 1.5 hours

3:00PM

Shopping at The Shops of Grand Avenue

Stop for last-minute souvenirs and gifts at The Shops of Grand Avenue before bidding Milwaukee farewell.
A short drive away.
USD50, 1.5 hours

5:00PM

Dinner at Harbor House

Enjoy a final dinner with a view at Harbor House, serving fresh seafood and stunning lake vistas.
Drive about 10 minutes.
USD100, 1.5 hours
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