A little fresh air and exercise goes a long way for everyone in the family.
We rounded up 25 of the best hiking destinations around Milwaukee, many of which are located inside state parks or local nature centers.
All of these destinations have trails easy enough to bring the kids along, and beautiful enough to impress the whole family.
We always recommend looking at a trail map before you head out.
- If you have young children in tow, check out these stroller-friendly hikes.
- In the summer, don’t miss these 5 beautiful waterfalls around Milwaukee.
- In the fall, you’ll want to check out the best views in Southeastern Wisconsin.
Let’s dive in!
1. Lakeshore State Park
500 N. Harbor Dr. Milwaukee, WI 53202
Lakeshore State Park is a 22 acre urban oasis located in the heart of downtown Milwaukee, adjacent to the Summerfest Grounds and Discovery World at Pier Wisconsin.
This gem is one of 15 beautiful Wisconsin State Parks near Milwaukee.
In addition to the paved paths, there is a small beach and a link to the Hank Aaron State Trail.
Families with young kids will love the accessible trails, the proximity to an epic playgrounds, and the unobstructed views of Lake Michigan and the city skyline.
2. Schlitz Audubon Nature Center
1111 E. Brown Deer Rd. Bayside, WI 53217
There’s so much to do at Schlitz Audubon Nature Center! The Center offers six miles of trails through 185 acres of habitats such as forests, wetlands, prairies, and Lake Michigan shoreline.
Hike on the stroller and wheelchair accessible boardwalk through Mystery Lake. It’s a turtle and frog paradise! You can also climb a 60-foot Observation Tower for an incredible view, and take the paved trail down to the shores of Lake Michigan.
3. Lake Park
2975 N. Lake Park Rd. Milwaukee, WI 53211
Lake Park is one of the most beautiful and historic parks in Milwaukee.
Truly beautiful in any season, the paved winding paths of historic Lake Park will bring you gorgeous lake vistas, rocky ravines, impressive statues, and the charming North Point Lighthouse.
Don’t miss the trickling waterfall!
It’s home to an awesome playground, too.
Fun Fact: This park was designed by Frederick Olmsted, the same landscape architect who designed Central Park in New York City and the U.S. Capitol Grounds.
4. Wehr Nature Center
9701 W. College Ave., Franklin, WI 53132
Wehr Nature Center is must-visit destination for kids and families!
It’s a 220-acre nature preserve features more than 4 miles of hiking trails that wind through five distinct plant communities, including a mature forest, 15-acre lake, wetland, prairie, and oak savanna.
There’s a beautiful waterfall, a nature place space, observation deck and an ADA-accessible boardwalk. The visitor center also has nature displays and exhibits.
A dedicated staff offers programming for everyone from pre-K to adults, year-round.
Read more about Wehr Nature Center >>
5. Retzer Nature Center
S14 W28167 Madison St., Waukesha, WI 53188
Retzer Nature Center in Waukesha is a must-visit destination for hiking enthusiasts.
The Discovery Trail was added as part of a multi-phase project to revitalize the old Adventure Trail, expanding accessibility into nature for all ages and abilities. The trail includes a variety of “Exploration Stations” for outdoor education, sensory-based play experiences, and STEM activities for families and school groups.
Other additions include a gateway feature, a stone seat wall gathering space, a habitat free-play area, boulder scramble, and native plant observation areas.
You can also explore “Vista Trail,” where you’ll get a good view of Waukesha, and the “Nature Trail,” where there are boardwalks and babbling brooks.
On the Orange Trail (approx. .75 mile with woodchipped and mowed grass, some sloped terrain), you’ll find a self-guided Story Hike.
From mid-September through the end of October, you can enjoy a fun, self-guided walk around Scarecrow Lane.
Read more about Retzer Nature Center >>
6. Lapham Peak
W329 N846, County Trunk Hwy C, Delafield, WI 53018
If you’re looking for a family-friendly hiking destination in the Wisconsin State Parks system, Lapham Peak State Park in Delafield may be just the place for you.
We recommend starting at the Hausman Nature Center and picking up the Plantation Path trail from there.
The Plantation Path will lead you to the crown jewel of the park, 45-foot observation tower atop the highest point in Waukesha County (1,233 feet above sea level) to take in the beautiful views.
The Lapham Peak Observation Tower is especially spectacular in the fall!
If you want to skip the hike and go right to the observation tower, there is a convenient parking lot located very close-by.
Read more about Lapham Peak >>
7. Holy Hill
1525 Carmel Road Hubertus, Wisconsin 53033
Holy Hill is a majestic place that you need to visit if you live in southeastern Wisconsin.
You can admire the beautiful architecture of the neo-Romanesque church built in 1926, enjoy the peaceful environment and expansive views, and even climb the scenic tower.
Once you get to the top, the view is absolutely incredible.
The paths leading through the forest and up to the church are especially magical in October, when all the leaves turn golden yellow.
8. Bender Park
4503 E. Ryan Rd. Oak Creek, WI 53154
To access this hidden gem, head east on Ryan Road and don’t stop until you reach Lake Michigan. Park in the lot near the lake to access the easy walking trail that follows the shore, heading north. The trail loops back around with great views of the water.
During warmer months, check out the small swimming beach and walkable pier. Check the park map for more hiking paths.
9. Doctors Park
1870 E. Fox Ln. Fox Point, WI 53217
The northern counterpart to Bender Park is Doctors Park. Located on the border of Fox Point and Bayside, this beautiful place consists of 49 acres on a bluff overlooking Lake Michigan.
Park in the main lot by the playground, and take the path on the east side of the lot. It’s all downhill and tree-covered on the way down to Tietjen Beach, and you’re rewarded with beautiful rocks and driftwood on the secluded shore.
Turn your visit into a day trip by stopping by the Schlitz Audubon Nature Center next door.
10. Havenwoods State Forest
6141 N. Hopkins St. Milwaukee, WI 53209
Located right in the middle of the city, Havenwoods is huge, clocking in at 237 acres. This makes it a great place not only for hiking, but also for biking.
Don’t miss the gardens and arboretum just north of the Nature Center and parking lot. For little kids and short attention spans, this might be all you accomplish while you’re there! There’s plenty of space to wander around through forests, prairie, and wetland. The 120-foot bridge is less than half a mile from the Nature Center, heading west.
11. Hawthorn Glen
1130 N. 60th St., Milwaukee, WI 53208
Hawthorn Glen is near the border of Milwaukee and Wauwatosa, and it offers the perfect length loop for little legs. There are postings along the way so you can learn about the history and wildlife around you.
There are stairs to climb at the back of the property for a good view, and a fun hill for the kids to roll down. There’s also a small playground and sandbox.
12. Hubbard Park
3565 N. Morris Blvd., Shorewood, WI 53211
Located right on the Milwaukee River and along the Oak Leaf Trail, it feels like you’re a million miles from the city. There are paved and non-paved trails, and you can explore at your own difficulty level.
You can bike there, or park in the lot on N. Morris Blvd. and E. Menlo Blvd. From there, you’ll enter the park through a short tunnel (kids love it). There are bathrooms near the beer garden up the path, just north of the entrance to the park.
13. Kohler-Andrae State Park
1020 Beach Park Ln. Sheboygan, WI 53081
One of the last remaining nature preserves along Lake Michigan, Kohler-Andrae State Park is a 45-minute drive from Milwaukee. It offers hikes along sandy beaches and rolling sand dunes, through pine trees and wildlife. ⠀
The Creeping Juniper Nature Trail starts and ends at the Nature Center; it will immerse you among the sand dunes. ⠀
Other short hikes include the Black River Marsh Boardwalk (just a quarter-mile hike through wetland) and the Fishing Pond Trail (quarter-mile hike with a flat surface for strollers and plenty of resting spots). ⠀
The one-mile Woodland Dunes Nature Trail is also stroller-accessible, and it starts and ends at the playground. ⠀
Vehicle admission sticker required.
14. Lion’s Den Gorge Nature Preserve
511 High Bluff Dr. Grafton, WI 53024
This nature preserve in Grafton is home to one of the last remaining stretches of undeveloped bluff land along the Lake Michigan shoreline. The views are stunning!
The park is 73 acres with plenty of hiking trails, boardwalks through wetlands, picnic areas, and restrooms.
The trails are relatively stroller-friendly, but you’ll have to ditch the stroller to take the stairway down to walk along the Lake Michigan shoreline.
NOTE: Be very careful on the trails because the cliffs and bluffs are very steep. It’s best to put babies and toddlers in a carrier.
15. Lynden Sculpture Garden
2145 W. Brown Deer Rd. Milwaukee, WI 53217
Website
The Lynden Sculpture Garden offers a collection of more than 50 monumental sculptures sited across 40 acres of park, lake and woodland.
Visit the bright, polka-dotted cows grazing along the pond (“Des Vaches: Mo, Ni, Que” by Swiss artist Samuel Buri), run around in the wide open spaces, explore and hide inside magical trees, and find frogs and turtles galore. Remember to enjoy the sculptures with your eyes only. Don’t climb on them!
The Sculpture Garden is open from 10 a.m. to 5 p.m. (closed on Thursdays).⠀
16. Mequon Nature Preserve
8200 W. County Line Rd. Mequon, WI 53097
Mequon Nature Preserve rests on over 444 acres, and it offers five miles of trails, an observation tower, and an observation platform.
There are three parking lots to start from; it’s like a choose-your-own-adventure book. To climb the observation tower, park in the parking lot on Swan Road and follow the trail around Pat’s Pond.
For good wildlife watching, park near the Pieper Power Education Center, and find the Observation Platform along the Streich Family Wetlands.
17. Urban Ecology Center at Riverside Park / Rotary Centennial Arboretum
1500 E. Riverside Pl. Milwaukee, WI 53211
Park at the Urban Ecology Center and take a peek at the pond outside the entrance. Then, discover outdoor sculptures and murals.
Then, explore the forest and walking paths west of the footbridge. You can also play on the Habitat Playgarden with a sandbox, spider web, and otter slides. (Located at the northeast corner of Riverside Park.)
Check out the huge stone archway at the entrance of the Milwaukee Rotary Centennial Arboretum. (You can see the archway from the entrance of the UEC building if you look southwest.) An arboretum can be defined as a “living museum of trees,” and this one is home to 70 trees indigenous to southeastern Wisconsin.
Take the Walk of 3 Billion Years, a walking path marked with rock sculptures as high as 7 feet tall that tell the geological past of Wisconsin. Starting at the building, go west until you see the first cairn at the gravel drive that leads to the warehouse. It’s made of 340-million-year-old stone. Follow the winding path until you find the ninth and final stone structure that’s made from rock over 3 billion years old!
18. Seven Bridges Trail
Grant Park (100 Hawthorne Ave., South Milwaukee, WI 53172)
Set along the shores of Lake Michigan, the babbling brooks, Lannon stone paths, foot bridges, and huge beech trees make this hiking location feel like an enchanted forest.
The trail starts at the Covered Bridge entrance. Find it by entering off of Lake Drive. The main loop will take you down to the beach and back, and it’s only a half-mile. To access it, find the stairway to the left of the Covered Bridge entrance, and take the stairs down.
19. Riveredge Nature Center
4458 County Hwy Y, Saukville, WI 53080
One of the most beautifully restored natural sanctuaries in southeastern Wisconsin, Riveredge features 402 acres of forest and prairie, tranquil ponds, and more than a mile of Milwaukee River frontage.
There are also ten total miles of trails that meander through the wilderness, and they’re known for their exceptional maple sugaring events.
More than 15,000 lake sturgeon have been raised and released at Riveredge too!
20. Stigler Nature Preserve
17400 W. Liberty Ln., New Berlin, WI 53146
Nestled in the middle of a business park, this nature preserve is surprisingly secluded and peaceful once you’re inside.
The nature trail loop is just over a mile long and not too strenuous. A shallow creek flows through the preserve, and there are two fun bridges to cross over.
The path is mostly covered in cedar wood chips, but it can get a little muddy and buggy after a rain, so be sure to pack galoshes and bug spray.
There’s a thorough write up of this nature preserve on A Wealth of Nature blog.
21. Forest Exploration Center
1800 Forest Exploration Dr., Wauwatosa, WI 53226
forestexplorationcenter.org
Nestled in the heart of an urban landscape, this 60-acre, mature hardwood forest offers a true escape from the city bustle. There’s a unique mix of large oak, maple, ash and basswood trees, and the forest provides a diverse habitat for wildlife, including more than 158 species of birds.
A one-mile self-guided trail offers shaded exploration and discovery under the woodland canopy. The accessible loop was designed and built specifically for wheelchair, foot traffic and strollers.
Keep your eyes peeled for the double-sided signs with rotating panel themes, media interactives and explorations along the trail. You can read one side of the sign when you follow the trail clockwise, then double back and read the other side as you move in a counterclockwise direction.
22. Alice Bertschy Kadish Park
750 E. North Ave., Milwaukee, WI 53212
Kilbourn Reservoir Park History
Established in 2007 at the intersection of three Milwaukee neighborhoods, Alice Bertschy Kadish Park (aka Kilbourn Reservoir Park) is the result of a public-private partnership.
The City of Milwaukee leases the entire park area to the nonprofit COA Youth & Family Centers, which obtained an endowment that provides for upkeep and maintenance.
Surrounding views abound from the top of this filled-in reservoir. Climb the stairs from North Avenue for an incredible panorama of the city skyline and surrounding trees!
23. Kettle Moraine State Forest – Pike Lake Unit
3544 Kettle Moraine Rd., Hartford, WI 53086
(262) 670-3400
Website
The trailhead of the hike to Powder Hill is about a half-mile away from the Nature Trail parking lot. Powder Hill is the second highest point in southeastern Wisconsin, and you can climb the observation tower for a panoramic view.
The Pike Lake Unit of the Kettle Moraine State Forest also includes a segment of the Ice Age Trail.
Vehicle admission sticker required.
24. Parnell Tower
W7876 County Road U, Plymouth, WI 53073
262-626-2116
Website
The highest point of elevation in the Kettle Moraine State Forest, this 60-foot wooden observation tower offers a panoramic view of the forest and surrounding farmland. On a clear day, you can see for about 25 miles in any direction from the top of the tower.
The tower is a favorite stop for hikers and backpackers along the Parnell Tower Trail, a 3.5-mile loop that overlaps with the Ice Age National Scenic Trail. The trailhead can be found near the parking lot on County Highway U (one-quarter mile west of County Highway A), and the tower is not far from there. There’s also a picnic area near the parking lot.
The tower is open from 6 a.m. to 11 p.m., and a state park admission sticker is required. The parking lot is closed during winter.
25. Scout Lake
5902 W. Loomis Road
Hidden among the hustle and bustle of Greendale’s downtown area is Scout Lake, a peaceful oasis with lots of wildlife and a paved trail surrounding the entire circumference of the lake. It’s perfect for strollers, skating, and biking. There’s also a playground there.
The Milwaukee area offers a plethora of beautiful hiking trails for nature enthusiasts of all levels.
Whether you’re looking for a leisurely stroll or a challenging climb, there’s something for everyone here.
From the stunning views of Lake Michigan to the tranquil forests and prairies, the area is a hiker’s paradise.
So grab your hiking boots, pack some snacks, and head out to explore the natural wonders that Milwaukee has to offer.
Happy hiking!
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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.
