Day Trips from Milwaukee

We have been to the Milwaukee area in 2021, 2023 & 2025, all in May, June or July.

Transportation: We used a car to get anywhere we needed to go.

Great Lakes Warning: The Great Lakes can have big waves and things like rip currents and such, like an ocean. Always check about safety before going and be careful while there. Check local sources for water quality too.

Harrington Beach State Park (Lake Michigan) (near Belgium, WI)

We love this beach. We go every time we go to that area of Wisconsin (if it is safe to do so). It is a pretty sand beach. There are toilets at the parking lot too if I remember correctly. 

We have gone on weekdays and on the weekend. There is a BIG difference. The times we have been on week days we have had no trouble parking and almost had the beach to ourselves. The last time we went we went on a weekend. Holy cow was it packed. There was an overflow parking that was a bit of a walk, but it was full too. We only got a spot after trying both lots multiple times. 

There are areas of the beach that have a sandy bottom (closer to the main parking) that we normally go to and it is wonderful. The last time we went, we were on the beach between the two parking areas. The beach was nice and sandy but when we walked into the water it was solid rock. It hurt to walk on. But once we got out a ways it was sandy again. We have been when the water is so clear we watched a fish swim around. I don’t know if it is always like that; but it was cool. 

Bay Beach Amusement Park (Green Bay, WI)

This amusement park wasn’t huge and it seemed more aimed at children, but it was fun. We had 4 hours of fun rides and even got to get everyone a treat from the concession stand all for $37 dollars (2021 price)! There was a big roller coaster that was thrilling and fun. There were things like the tilt-a-whirl and the one that spins around when you're standing, the big slides you go down on a carpet, there were lots of rides our  youngest could do too (he was 2 at the time). We were there on a weekday so it wasn't even that busy. The longest we stood in line was waiting for one ride ahead of us. My oldest (9 at the time) loved the big roller coaster and said the super slide was her favorite. We did almost every ride and even did some a few times. It was so fun!

Shalom Wildlife Sanctuary (about 50 min north from the middle of Milwaukee)

We rented golf carts once we got there. They also had animal feed we bought. Then we drove the golf carts around seeing animals that aren’t always at a normal zoo. We saw animals like bears, tigers, elk, deer, buffalo, wolves, water buffalo, tortoises and such. 

Cave of the Mounds (about 35 minutes west of Madison, WI/1 hour 40 minutes from Milwaukee)

Maybe not a day trip; but if you go to Milwaukee from that direction or leave going that way, it was a nice stop on our drive.

It was really cool & I thought it was a good cave to do with our kids. It was self guided, but with workers stationed around to answer questions, when we went. (2021)

Renaissance Faire (Bristol, WI)

It is a permanent one. So the shops were in buildings that looked like they were really old, there were dirt roads and such too. We watched May Pole dances and a whip show. My daughter got to do a short zipline over a pond. The boys did a rock wall that looked like a castle wall. We got some fun treats throughout the day. There were food options too. Overall, it was mostly shopping, with a few activities and shows, but the kids seemed to enjoy it. We dressed up in costumes and almost everyone there did too. 

Mars Cheese Castle (Between Bristol & Milwaukee)

I’m not a cheese fan, but my husband and sons are. They had fun trying samples. I wasn’t as impressed. They had foods other than cheese to buy too.