If you’re an animal lover living in the Milwaukee area, then you’re in for a treat! Petting zoos are a wonderful way to get up close and personal with a variety of adorable creatures, and lucky for us, there are plenty of great options to choose from in the area.
In this post, we’ll take a look at the best zoos & petting zoos in and around Milwaukee and what makes them so special.
Milwaukee County Zoo – Goat Yard & Giraffe Experience
📍10001 W. Blue Mound Rd., Milwaukee, WI 53226
🔗 Full Family Guide to Milwaukee County Zoo
While the Milwaukee County Zoo is known for its wide variety of animals, families with young kids won’t want to miss two extra-special encounters:
🐐 Goat Yard – Let your little ones meet some little ones! The zoo’s friendly herd of over 30 Nigerian dwarf goats is a hit with kids of all ages. It’s a great chance for hands-on fun and giggles—just don’t forget to wash up afterward!
🦒 Giraffe Experience – From Memorial Day weekend through Labor Day (and weekends in September), visitors can feed giraffes and get eye-to-eye with the tallest animals at the zoo. It’s a unique and memorable moment, and proceeds go toward animal conservation. ($5 per person; hours vary)
💡 Parent Tip: For more details on what to see, where to eat, and how to plan your visit, check out our Milwaukee County Zoo family guide.
Shalom Wildlife Zoo
📍1901 Shalom Dr., West Bend, WI 53090
Just 40 minutes from Milwaukee, Shalom Wildlife Zoo is a one-of-a-kind experience that blends a working farm with a licensed zoo. Families can explore a scenic three-mile loop (on foot or by rentable golf cart!) and spot over 75 species of animals—including elk, camels, ostriches, and yes, even bears.
There’s also a Play & Picnic Area near the gift shop with petting animals, a playground, and space to relax. Grab lunch at the Grizzly Grill or pack your own and picnic near the Native American Artifact Museum.
💡 Parent Tips:
- Rent a golf cart if you have little ones—totally worth it for tired legs.
- Buckets of feed are available to feed select animals (just follow the signs).
Green Meadows Petting Farm
📍33603 High Dr. (Hwy 20), East Troy, WI 53120
Green Meadows Petting Farm offers an all-day, hands-on farm experience. Kids can feed, pet, and even hold animals like bunnies, goats, chicks, and more. There’s even a chance to milk a cow—a hit with many brave little farmers!
The Kitten Barn is always a favorite, and the farm also offers pony rides, wagon rides, and hay rides throughout the day.
Don’t forget to check out the playground, which includes a fire truck to climb, wooden wagons, and a tractor with a built-in slide.
💡 Parent Tips:
- Plan to stay several hours—there’s a lot to do.
- Bring hand sanitizer for after animal interactions.
- Perfect for preschool and elementary-age kids.
Bear Den Zoo & Petting Farm
📍6831 Big Bend Rd., Waterford, WI 53185
Just 30 minutes from Milwaukee, Bear Den Zoo & Petting Farm is a cozy, family-run spot where your kids might get the chance to hold a baby bunny—or even a baby kangaroo! With a mix of familiar farm animals and unique encounters (hello, arctic foxes and lemurs!), it’s a hands-on, low-key adventure that’s perfect for little ones. Bonus: there’s a playground, hayride, and seasonal fun in the fall.
Concord General Store and Zoo (FREE!)
📍N6485 County Rd. F, Oconomowoc, WI 53066
Just off I-94 in Oconomowoc, Concord General Store is more than a gas station—it’s a fun, low-key stop with a free petting zoo out back! Say hi to goats, alpacas, donkeys, pigs, and more, then swing inside for snacks, locally made gifts, or a latte from the cozy Moose Café. It’s a perfect stretch-your-legs break on the way to Madison or a quick outing from Milwaukee.
Racine Zoo – Barnyard Safari
📍2131 N. Main St., Racine, WI 53402
Racine Zoo is a smaller, easy-to-navigate zoo that’s ideal for younger kids or a first-time zoo visit. With around 100 different species and a beautiful location right on the shores of Lake Michigan, it makes for a relaxed, low-stress family outing.
Don’t miss the Barnyard Safari, the zoo’s interactive petting zoo where kids and adults can meet and learn about domestic animals from around the world. It’s a hands-on, educational experience that goes beyond your typical barnyard encounter.
Bonus: Visit on a Zoorific Saturday to enjoy themed crafts, games, and activities (included with regular admission), plus educational programming led by Conservation Education Specialists.
💡 Parent Tip: Racine Zoo is stroller-friendly and small enough for little legs to manage. Pack swimsuits and towels if you’re heading to North Beach afterward!
Related Places for Animal Lovers
Cozy Nook Farm
📍S11 W30780 Summit Ave., Waukesha, WI 53188
🔗 cozynookfarms.com
This sixth-generation dairy farm in Delafield is home to around 150 cows, and it offers weekday farm tours by reservation. It’s a wonderful behind-the-scenes look at life on a real working dairy farm—especially fun (and educational!) for young animal lovers. In the fall, don’t miss their picture-perfect pumpkin patch and seasonal market.
Wisconsin Humane Society
📍Milwaukee Campus: 4500 W. Wisconsin Ave., Milwaukee, WI 53208
📍Ozaukee Campus: 630 W. Dekora St., Saukville, WI 53080
🔗 wihumane.org
The Wisconsin Humane Society offers youth programs, camps, and animal-themed events where kids can learn about pet care, compassion, and animal rescue. It’s a great way to introduce children to the world of animal welfare in an age-appropriate and engaging way.
Farm Wisconsin Discovery Center
📍7001 Gass Lake Rd., Manitowoc, WI 54220
🔗 farmwisconsin.org
Located just over an hour north of Milwaukee, this state-of-the-art agricultural center offers an indoor, hands-on experience all about Wisconsin farming. Families can see live farm animals, tour a birthing barn to witness calves being born, and explore over 10,000 square feet of interactive exhibits. It’s part museum, part working farm—and perfect for curious kids.
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Calie Herbst, Editor-in-Chief of Milwaukee With Kids, has spent over a decade combining her experiences as a parent of three to create a hub for Milwaukee’s family adventures.
Her decade-long teaching career in Milwaukee Public Schools and academic background, including a Master’s in Teaching from Marquette University and dual B.A.s in Sociology and Spanish from the University of Wisconsin – Madison, fuel her passion for inclusive and engaging family content.
Calie is also a recognized voice in local media, contributing to WISN Channel 12 News, WTMJ Wisconsin Morning News, Fox 6’s Real Milwaukee, and B93.3.
Discover more about Calie’s journey and editorial approach on her About Page and Editorial Policy Page.
