A city bursting with activities perfect for families seeking fun, bonding, and unique experiences. While parks, museums, and playgrounds are go-to spots, sometimes the adventure calls for something a bit different. Fear not, as we’ve curated the ultimate guide to tours and tastings tailored for families just like yours.
Here’s what you can expect:
- Historic Buildings & Museums: Dive into Milwaukee’s past with free tours at places like the Milwaukee Fire Historical Society and Fire Museum, and marvel at the architecture of the Basilica of St. Josaphat.
- Food & Drink Delights: From cheese factories to breweries (with plenty of non-alcoholic options), get ready to tantalize your taste buds.
- Sports Fanatics: Explore the Fiserv Forum or take a behind-the-scenes look at American Family Field.
- Self-Guided Freedom: Enjoy Milwaukee at your own pace with The Hop streetcar or a self-guided mural walk.
- Boat Tours: See the city from a new perspective with options like the Milwaukee Boat Line or the Edelweiss Historic Narrated Boat Tour.
- And More: Discover other unique experiences such as the 88Nine Studio tour.
Each entry includes insider tips, fun facts, and local recommendations to enhance your adventure.
Let’s dive in!
HISTORIC BUILDINGS
1. Milwaukee Fire Historical Society and Fire Museum (Free!)
1615 W. Oklahoma Ave., Milwaukee, WI 53215
(414) 286-5272
Facebook Page
If you have kids who are wild about fire trucks, then this hidden gem is a great place to find in Milwaukee.
Located in an old 1927 fire station on Oklahoma Avenue, the Milwaukee Fire Department (MFD) Museum and Historical Society is open for afternoon tours (1-3 p.m., or by appointment) on the first Sunday of the month (April – December).
The Milwaukee Fire Museum, which opened in 1995, is home to the first MFD ambulance (a 1947 Cadillac), and two trucks built in the MFD shop during the 1920s and 30s. All displays are located on the first floor and accessible. You can take a guided tour, or explore at your own pace using the museum guide sheet.
Admission and street parking are free, but donations are always graciously accepted.
2. Basilica of St. Josaphat (Free!)
2333 S. 6th St., Milwaukee, WI 53215
(414) 902-3523
thebasilica.org
The Basilica of St. Josaphat was completed in 1901, and it serves as a testament to the early Polish immigrants of Milwaukee.
The opulent and impressive Basilica is open Monday through Saturday for visits, and you can pick up a walking tour brochure at the Visitor Center.
There is also a free exhibit on the lower level of the Pavilion that includes images and information detailing the story of the Basilica.
The Visitor Center is open from 10 a.m. to 3 p.m., but final tours of the day must begin by 2:15 p.m.
3. Central Library (Free!)
814 W. Wisconsin Ave., Milwaukee, WI 53233
(414) 286-TOUR (8687)
mpl.org
The Friends of Milwaukee Public Library offer free tours that start at 11:00 a.m. every Saturday morning in the rotunda. You can also make an appointment for a tour by calling the number listed above.
Central Library opened its doors in October of 1898 in response to the Milwaukee Public Library’s need for more space. It is a combination of French and Italian Renaissance styles and it’s built of Bedford limestone.
The building has been designated a landmark by the Milwaukee Historic Preservation Commission and is listed on the National Register of Historic Places.
Discover the best libraries in Milwaukee >>
4. Pabst Mansion
2000 W. Wisconsin Ave., Milwaukee, WI 53233
(414) 931-0808
pabstmansion.com
Every Saturday at 9:30 a.m., the Pabst Mansion hosts a 30-minute family-friendly tour.
See which animal friends you can find in the art and architecture, peek inside a secret cabinet, and imagine yourself as young Elsbeth Pabst growing up in the Mansion on this tour, which leans less beer and more playful cheer.
And thanks to BMO Harris Bank, children attend free of charge all year long!
5. North Point Lighthouse Museum
Lake Park, 2650 N. Wahl Ave., Milwaukee, WI 53211
(414) 332-6754
northpointlighthouse.org
There are many lighthouses that dot the shores of the great lakes, but the North Point Lighthouse is a true local treasure.
Built in 1855, the lighthouse can be found in Lake Park and is one of the oldest standing structures in Milwaukee.
Climb the 74-foot tower for 360-degree views of Lake Park, Lake Michigan and downtown Milwaukee, or tour the Queen Anne-style, wheelchair-accessible museum to view maritime industry artifacts and exhibits.
You can book a group tour, or walk through the museum on a self-guided route.
FOOD & DRINK
6. Sprecher Brewing Company
701 W. Glendale Ave., Milwaukee, WI 53209
(414) 964-2739
sprecherbrewery.com
Of all the brewery tours you can do in Milwaukee, this one may be the most family-friendly.
Sprecher root beer and craft sodas may actually be more popular than the beer! Visit the brew house and discover how Sprecher’s brewing process revives Old World traditions that made Milwaukee famous.
See the production line, then sip on four beer samples and unlimited craft soda in the tasting room.
The tour is about 45 minutes long, and there are no stairs for little legs to climb. Tour spots are first come, first served, so we recommend reserving ahead of time.
7. Stone Creek Coffee Factory
422 N. 5th St., Milwaukee, WI 53203
stonecreekcoffee.com
Learn about the history of Stone Creek Coffee, see the farm-to-cup coffee journey up close, and get a behind-the-scenes look at their 1880’s factory. Learn more about coffee while you tour the green storage area, roasting facility, cupping lab, learning lab, and outside the bakery.
There will also be plenty of coffee and some bakery treats to taste.
Tours take place every Sunday (excluding major holidays) at noon and 2 p.m., and you can sign up for them online.
8. Sassy Cow Creamery
The Sassy Cow Creamery Store is a bit of a drive from Milwaukee, located 20 minutes north of Madison and roughly an hour from Milwaukee.
You can see how they bottle their farmstead milk through large viewing windows, and try an ice cream cone choosing from 28 flavors.
During the summer you can experience this family dairy farm and see firsthand how cows produce milk. They have a calf and other farm animals at the creamery for you to meet and outdoor activities for the kids.
Most of the tour is done under cover so tours are done rain or shine in the summer.
SPORTS
9. Fiserv Forum
1111 Vel R. Phillips Ave., Milwaukee, Wisconsin 53203
(414) 227-0599
fiservforum.com
If you’re looking for a fun family activity in Milwaukee, a tour of the Fiserv Forum is definitely worth considering.
This state-of-the-art arena is home to your World Champion Milwaukee Bucks basketball team and hosts a variety of other sports, entertainment, and cultural events throughout the year.
The Fiserv Forum is located in the heart of downtown Milwaukee, making it easily accessible by car or public transportation. There are several parking options nearby, including the 5th Street Parking Structure, and a number of restaurants in the neighboring Deer District.
The tour lasts about 90 minutes and takes you through various areas of the arena, including the locker rooms, the player tunnel, and the court itself.
You’ll also learn about the history and architecture of the building, as well as some of the behind-the-scenes aspects of running a major sports venue.
One of the highlights is the chance to see the impressive collection of art and memorabilia that is on display throughout the arena.
The artwork includes pieces from local and national artists, as well as some pieces that are specifically related to the Bucks and the history of basketball in Milwaukee.
The memorabilia collection includes jerseys, trophies, and other items that highlight the team’s successes over the years.
Whether you’re a die-hard basketball fan or just looking for a fun way to spend an afternoon in Milwaukee, this tour is sure to be a memorable experience for the whole family.
To save money, head to the Fiserv Forum during Doors Open Milwaukee for a free tour.
10. American Family Field
1 Brewers Way, Milwaukee, WI 53214
(414) 902-4000
mlb.com/brewers
Get a behind-the-scenes look at the impressive Milwaukee landmark, American Family Field (formerly known as Miller Park).
The Classic Walk-Up Tour includes a visit to the Selig Experience, Playing Field, Visitors’ Clubhouse, Visitors’ dugout, Brewers bullpen, luxury suite level, Press Box, Bob Uecker’s broadcast booth, and many other special locations!
Tours are capped at 20 guests, so be sure to book your tour in advance.
Read 10 Tips for Visiting American Family Field With Kids >>
SELF-GUIDED TOURS
11. The Hop Streetcar
Ready for an adventure in downtown Milwaukee?
The Hop streetcar is a fun and safe option for exploring the city, and it’s an experience both you and your kids can enjoy.
(And it’s free to ride!)
With its colorful and spacious cars, accessible platforms, and convenient stops, The Hop is designed to accommodate riders of all ages and abilities.
In fact, along the route, you’ll find a variety of engaging and family-friendly destinations that are sure to keep everyone entertained.
Here are 10 Kid-friendly Stop Along the Hop Streetcar Route and 5 Hot Cocoa Stop along the Hop Route.
12. Milwaukee Mural Tour (Free!)
Of all the ways to experience a city, wandering the streets to discover its vibrant murals may just be the most colorful!
That’s why we’ve put together this Milwaukee Mural Tour, highlighting some of the best murals in the city that are sure to captivate the imaginations of both you and your little ones.
From towering masterpieces to hidden gems, get ready to discover the beauty and creativity that make Milwaukee’s street art scene so special!
13. Self-guided Walking Tours
Milwaukee is home to monuments, and architecture that entertains, inspires, and honors our heroes. There are also very unusual statues, such the Bronze Fonz (a likeness of the Fonz from Happy Days) and a monument to a duck and its ducklings.
Choose one of the self-guided walking tours of Milwaukee on gpsmycity.com
Boat Tours
14. Milwaukee Boat Line – Sightseeing Cruise
1124 N. Old World Third St. Milwaukee, WI 53203
(414) 294-9450
mkeboat.com
Explore Milwaukee’s past and present from our rivers, harbors and the western shore of Lake Michigan during this 90-minute tour. Enjoy unforgettable views and a unique perspective of Milwaukee’s history and architecture.
Live narration is provided by experienced and entertaining tour guides and the captain. Snacks, soft drinks, beer and cocktails available on board. The dock is located on the west side of the Milwaukee River, one block east of the Fiserv Forum.
15. Milwaukee River Cruise Line – Edelweiss Historic Narrated Boat Tour
205 W. Highland Ave., Milwaukee, Wisconsin 53203
(414) 276-7447
edelweissboats.com
Brought to you by the Milwaukee County Historical Society, this narrated tour travels on the Milwaukee River, through downtown MKE and underneath its bridges.
You’ll see historical landmarks and get a front-row view of the Milwaukee skyline, including the Milwaukee Art Museum, Discovery World, Summerfest grounds, and yacht clubs.
A cash (or credit) bar serves up beer, wine, soft drinks, and mixed drinks.
Edelweiss also offers a Kiddie Character Cruise!
Find more Milwaukee Boat Tours >>
OTHER
16. Skywaukee
Explore downtown Milwaukee from indoors with Historic Milwaukee. Stroll through the skywalk system and learn about significant Milwaukee landmarks from a new angle.
17. 88Nine Studio (Free!)
220 E. Pittsburgh Ave., Milwaukee, WI 53204
(414) 892-8900
radiomilwaukee.org
When you check out 88Nine’s custom-built studio in Walker’s Point, you’ll get a “behind the scenes” 30-minute tour of the sound-proof recording studios, the 100-seat performance space, and the 2,500-square-foot Green Roof that can hold up to 1,500 gallons of rainwater.
The roof provides a unique view of downtown Milwaukee, including the Hoan Bridge, the Marcus Amphitheater, and Walker’s Point. Reserve a spot for your tour by filling out a form on their website.
18. Doors Open Milwaukee (Free!)
Annual event held in September
historicmilwaukee.org
On one weekend in September, Doors Open Milwaukee opens the doors to over 100 wonderful buildings free-of-charge to the public. The buildings include churches, theaters, museums, hotels, universities, and office buildings, and all of them hold hidden treasures and interesting stories.
Doors Open Milwaukee designates several sites of special interest to families with children during the event. You can pick up a free passport and have them stamped as you visit each site.
Read more about Doors Open Milwaukee >>
19. Firehouse Tours (Free!)
Contact your local fire department and ask for a kid-friendly tour! You’ll get to climb on the fire trucks, try on a fire coat and learn all about fire safety. You might also get a fire hat, a coloring book, and other fun kid swag.
Related Posts:
20 Milwaukee Museums Your Kids Will Love
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.
