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Best Kid Friendly Restaurants in Milwaukee -Parents Actually Like

Best Kid Friendly Restaurants in Milwaukee -Parents Actually Like

The thought of going out to eat with kids can be stressful, BUT it doesn’t have to be. Picking out one of the best kid friendly restaurants in Milwaukee helps and will make it a more enjoyable meal.

We are no strangers to dining out with our kids. We have been taking them out to restaurants several times a month since they were born. If you have read some of our other articles, you know that we travel to Mexico every year for 4-6 weeks at a time, eating 75% of our meals out.

As Milwaukee locals and parents of two kids, we’ve put together this list of the best kid friendly restaurants in Milwaukee.


Toddler at restaurants drinking from a cup
Atlas happy with his restaurant cup!

Restaurant Essentials when dining out with Kids

Here are a few things I always have with me when eating at restaurants with kids. Mind you, my kids are younger, and this list will vary based on the age of your kids.

  • Antibacterial wipes – I find most highchairs at restaurants aren’t super clean, so I like to give them a quick wipe-down before putting my child in them. I like these sanitizing wipes that are kid friendly.
  • Disposable placemats – These things are awesome. They stick to the table/highchair, and you now have a clean eating surface for your child, AND there is graphics/game for them. We like to point things out and work on colors and words with our kids. We have been using these placemats for years and always have them with us at restaurants. *Don’t come for me and say it is wasteful…I usually will then ask you if you have a dog, and if you say yes, I will then ask you what do you pick up your dog poop with on a walk….a plastic bag. Don’t talk to me about wasteful. We maybe use 80 of these a year.
  • Baby wipes – For messy hands & faces.
  • Some sort of snacks – The sooner kids get food in, the better. We often bring some sort of cracker or popcorn.
  • iPad – This is the time I break out the iPad. We try not to allow our kids to have their iPads unless we are driving, at a restaurant, or flying with toddlers. I hated the Amazon Fire tablet. Don’t waste your money on this; there isn’t a home button, and it is frustrating to use as a parent, let alone a child. Both of our kids have this iPad 9th Generation 9, which has a home button. We added them onto our Verizon plan for $10 a month, so we don’t have to hotspot them in the car or wait for the wifi password at restaurants.

Where to Eat in Milwaukee with Kids – Top 10 Family Restaurants in Milwaukee

Safe House Bar
Safe House Restaurant Milwaukee – Photo courtesy of Visit Milwaukee

1. SafeHouse

If your kids are fascinated by spy movies, secret agents, or action movies, they’ll have the time of their lives at the SafeHouse restaurant in Milwaukee.

The inside is a smorgasbord of spy memorabilia and movie props collected by the owner, with themed food and drinks to accompany the decor. It’s like walking into a CIA gadgets workshop, and perfect for a kid friendly restaurant in Milwaukee for dinner out!

There are secret exits, password-protected passageways into hidden rooms, and a kids’ scavenger hunt. Kids can even ask for a secret mission while you wait for your food. The restaurant also hosts birthdays and private parties for your young spy-in-training. 

When it comes to food, expect bar-style meals like burgers, sandwiches, salads, and appetizer snacks. There’s also a kids’ menu for young children or picky eaters (or both!), which includes choices like corndogs, hot dogs, mac and cheese, and junior burgers.

Note: You do need to know the password to enter the Safe House, and if you don’t know the password, you’ll be based to complete a clearance test to prove you’re a friendly spy. Basically, you’ll be asked to perform several tasks, and those seated at the bar have a TV screen watching you perform these tasks.

If you’d like the password make sure to Follow us on Instagram and send us a message.

  • Menu
  • Address: 779 N Front St, Milwaukee
Atlas going after a giant pretzel at the Bavarian Bierhaus Oktoberfest

2. Bavarian Bierhaus (Glendale)

It may be a traditional German beerhouse, but that doesn’t mean it’s not a great place to take the kids! Bavarian Bierhaus in nearby Glendale has a long history of being a meeting place for German immigrants and is now known as the region’s biggest Oktoberfest celebration each fall.

The menu has a lot of traditional Bavarian dishes, and although there’s no kids’ menu, there are plenty of things on there that would appeal to kids, like pierogies, Bavarian mac and cheese, and even a build-your-own bratwurst. The live Oompa music is always fun when you visit as a family, as many kids get up to dance!

We like to meet our friends here and get all the kids together. The kids love to dance to the live music, and we get to enjoy a beer and catching up. All of our friends agree that the Bavarian Bierhaus is one of the best kid friendly restaurants in Milwaukee!

Other notable perks of visiting as a family are: kids eat free on Tuesdays, parking is always free, and every Friday night, they have a fish fry. If you are from Wisconsin, you know a Friday fish fry is a must!

We also suggest making a reservation online in advance. Trust me, make a reservation when you can when going out to with kids. You don’t want them to wait an hour, and then when you finally get a table, they lose their $$$$.

  • Menu
  • Address: 700 W Lexington Blvd, Glendale

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Adam and Atlas at the South Shore Terrace on a gorgeous summer day in Milwaukee

3. South Shore Terrace

Although the South Shore Terrace is best known for its outdoor beer garden (a great choice in the spring and summer), it’s a perfect family-friendly choice no matter what time of year.

It’s located right on the shore of Lake Michigan, which gives it a laid-back feel and great Lake Michigan views. It’s a great place to meet friends, have a few drinks, and bring the dogs it is super pet friendly, and eat some very Wisconsin food.

The menu is simple but tasty. Expect mostly soups, sandwiches, and burgers — comfort food that hits the spot any time of year! They also have great appetizers. The Wisconsin cheese curds are one of the most popular and a must-try if you’re visiting from out of state.

The kids’ menu is great for younger children who can’t finish a large portion. Choose from hot dogs, grilled cheese, popcorn chicken, or French toast sticks for something sweet.

There is also a nice playground right next to the building. If you don’t want your kids to see the playground, enter from the north side of the building. Odds are you will drive by the playground so your kids will see it. Make sure to plan on spending some time at the playground.

  • Menu
  • Address: 2900 S Shore Dr, Milwaukee

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Milwaukee Public Market at night with traffic streaks
Milwaukee Public Market on Water Street in Downtown Milwaukee

4. Milwaukee Public Market

Sometimes the best food doesn’t come from a restaurant—it comes from a market! The Milwaukee Public Market is full of interesting food vendors, whether you’re looking for packaged goods to take home (like spices, handcrafted chocolates, or artisan cheese), or stalls serving up freshly-made meals.

There’s a nice variety of places to choose from, so if your kids are picky eaters, you’ll still be able to find something they love. Find sizzling hot slices of fresh pizza, nutritious plant-based meals, spicy pad Thai, and a Mexican vendor. There’s also a bakery and coffee roastery if you just want a quick snack.

The Public Market is pretty well-known for hosting a wide variety of cooking classes, and there are even some tailored especially for kids! Aspiring cooks can learn how to make homemade cinnamon rolls or empanadas, and there are even Mexican cooking classes for kids aged two to five years old. Click here to see upcoming events.

If you find yourself visiting on a rainy day, put this on your list of things to do in Milwaukee. It will keep you dry and well fed!

AJ Bombers Burger Milwaukee
AJ Bombers award-winning burgers in Milwaukee

5. AJ Bombers

If “best burger in Milwaukee” sounds good to you, then AJ Bombers should be at the top of your list. Make sure to read our best burgers in Milwaukee article for additional burger joints in Milwaukee.

Serving up juicy beef, chicken, and plant-based burgers, as well as bar appetizers and refreshing drinks, this is a lively place to hang out, whether you’re with family or a group of friends. Don’t forget to order the cheese curds!

There’s no kids’ menu, but most of the menu is kid friendly and includes things like onion rings, fries, and chicken tenders. And, of course, what kid doesn’t love a creamy milkshake? AJ’s is known for its frozen custard ice cream shakes (which can be made boozy for mom and dad). 

The decor inside is fun, and there’s even a graffiti wall where kids can write with markers.

  • Menu
  • Address: 1247 N Water St, Milwaukee
Kopp's burger and Frozen custard inside the north shore restaurant - Local Favorite places to eat in Milwaukee
Butterbuger & Frozen Custard at Kopps Milwaukee Restaurant

6. Kopps Frozen Custard

A classic burger (or grilled cheese) and sundae joint is about as kid friendly as it gets, and your kids will love Kopps! They have three locations in the Milwaukee Area, and no matter which one you visit, you’ll want to come back before you’ve even finished.

From the grill, they’ve got classic burgers, fried chicken, and crispy sides like skinny fries and onion rings. They’ve even got grilled cheese if you’ve got a really picky eater. After you’ve got your burger or chicken, visit the toppings bar to add whatever you like.

But they’re best known for their frozen custard creations in unique flavors, which include specialty sundaes, homemade ice cream cones, refreshing milkshakes, and ice cream soda floats.

It isn’t fancy, it is just REALLY GOOD! If you ask us, Milwaukee locals, it is one of the best restaurants in Milwaukee, and it won’t break the bank.

They’ve even got pints you can take home and savor for longer (although, let’s be honest, it won’t last very long)! Every day, they offer vanilla, chocolate, and the flavor of the day. Check out their flavor forecast online here. Some of our favorite flavors are Carmel Cashew and Ultimate Cookie Dough.

If you are visiting Milwaukee, we highly suggest getting some frozen custard. It is better than ice cream, trust us! If you ask us Milwaukee locals, Kopps has the best frozen custard in Milwaukee.

And, of course, you have to take your kids to see the cow statues in the back parking lot.

*Not there aren’t any tables and chairs. There are some high-top tables for standing. Most people get their order to go, or in the summer months, they sit outside and eat their food. Just something you might want to know in advance.

  • Menu
  • Addresses: 7631 W Layton Ave, Greenfield; 5373 N Port Washington Rd, Glendale; 18880 W Bluemound Rd, Brookfield
burger and fries at Georgie Porgies Treefort restaurant

7. Georgie Porgie’s Treefort

Kids plus a burger restaurant is always going to equal a good time for the whole family! There are simply too many delicious burger joints to list them all, but Georgie Porgie’s Treefort gets a special mention.

This kid-friendly restaurant does burgers the old-fashioned way: with lots of fresh, local ingredients and classic pretzel buns. Even their craft sodas are made locally and use real sugar syrups without additives.

Kids can either build their own burger or choose from one of their signature options. And they are quite unique, like the pizza burger and the hickory cowboy burger. 

Trying to eat a little healthy? No problem — Georgie’s also makes salads and pizzas. If burgers aren’t to your children’s liking, there’s also a simplified kids’ menu.

If you’re visiting the location in Racine, there’s an upper dining area built like a two-story treehouse. Tables are stocked with toys so kids can play while they wait for their food. And, of course, make sure to save room for dessert because the dessert menu includes classic Wisconsin frozen custard made into signature sundaes and shakes.

  • Menu
  • Addresses: 9555 S Howell Ave, Oak Creek ; 5502 Washington Ave, Mt Pleasant
peoples hands grabbing slices of pizza

8. Organ Piper Pizza

Organ Piper Pizza is one of the more unique restaurants on this list since they serve a lot more than just pizza. As the name suggests, they have live organ music as the backdrop to your meal, and while it might seem odd, somehow, it just fits!

Pizza is the main attraction, with a pretty big menu of choices and many signature pies. Or, combine toppings and flavors and build your own! They also make sandwiches, pasta, salads, and lots of tasty appetizers. There’s a kid’s menu too, with child-sized portions for young eaters.

Although the organ music is enough to keep the whole family having a great time, there is an arcade area for kids who want a little more action. Organ Piper Pizza has been around for almost fifty years, and it’s become a community classic—many parents used to come here as kids themselves!

  • Menu
  • Address: 4353 S 108th St, Greenfield

Best Pizza in Milwaukee

Photo Credit 3rd Street Market Hall via website

9. 3rd Street Market Hall

Another public market makes the list of the best kid friendly places to eat in Milwaukee! The 3rd Street Market Hall is full of places to take your kids, even if everyone in the family is in the mood for different food.

Order artisan sandwiches or build your own salad at Greenhouse, get made-to-order tacos at Kompali, or slurp up a comforting bowl of ramen from Kawa Ramen. There’s also a chicken wing stand, hot dog vendor, and pizza spot. There’s also coffee and donuts, smoothies, and a small bakery if you’re feeling snackish.

After a family lunch or dinner, check out what else there is to do at the market. There’s a “Photoverse” exhibit with interactive photo stalls and fun backgrounds so you can take fun family selfies, a gaming lounge, and two shuffleboard courts. There’s even an astroturf where you can play life-sized Jenga!

  • Menu
  • Address: 275 W Wisconsin Ave Suite 100, Milwaukee

10. StoneFire Pizza Company – Recently Closed

What kid doesn’t love a pizza party? StoneFire Pizza Co is one of the best family friendly restaurants in Milwaukee for both delicious food and things to keep your kids busy. 

Pizza dough is made fresh every day (both regular and gluten-free) and fired in their huge brick oven. With all their toppings, your kids won’t have any trouble gobbling it up. You can order from their menu or build your own. There are also soups, salads, tacos, a baked potato bar, and a kids’ station for things like mac and cheese and chicken nuggets. 

What really makes this special for kids is all the games. This place has arcade games, a bounce house, bumper cars, and mini-bowling that the whole family can play.

Afterward, redeem your tickets for prizes in the Redemption Zone before heading back to the restaurant to choose something sweet from the dessert menu.


Map of the best Kid Friendly Restaurants in Milwaukee

We put together this map to help you decide which restaurants were close to where you were staying or how far you wanted to drive. We all know how fun it can be in the car with kids, lol.


toddler with fry basket on his face

Where are your favorite kid friendly restaurants in Milwaukee? We are always looking for new places to take the kids to and try out.

Leave a comment below!