Top 10 Kid-Friendly Restaurants In Milwaukee, Wisconsin

kid friendly restaurants in milwaukee

Milwaukee is located on Lake Michigan’s shore in Wisconsin, USA. The city features many attractions — including the Harley-Davidson Museum that overlooks the Menomonee River and exhibits many examples of classic and iconic motorcycles, featuring even the one that used to belong to Elvis Presley. As a matter of fact, you can even dine in the museum! The city is also famous for its breweries where you can take a tour to learn about the beer industry. One fun attraction for the kids is the Milwaukee Public Museum, which features a down-to-scale European village and the reaction of Milwaukee residents in days gone by. While visiting the city with the family, take a break from the fun to enjoy a meal at one of the top kid-friendly restaurants in Milwaukee, Wisconsin, below.

1. BelAir Cantina

Editor's Note: Photo taken from the establishment's official social account

BelAir Cantina is a great place for adults to enjoy the different selection of tacos and margaritas, as well as the mixture of traditional Mexican cooking, using the best and the fresh ingredients. The restaurant has a laid-back and fun vibe, making it the perfect place for families to dine together. The BelAir Cantina kids’ menu includes kid-sized quesadillas, tacos, and burritos. Brunch options for the kids are French toast along with tasty desserts, such as Mexican s'mores and homemade churros. All can be washed down with refreshing smoothies, juices, and sodas. Kids also get to enjoy the Lucha Libre wrestlers in their colorful costumes and masks.

BelAir Cantina

Address: 1935 N Water St, Milwaukee, Wisconsin, USA

Website: BelAir Cantina

Opening hours: Mon - Fri: 11am - 12am; Sat - Sun: 10am - 12am

2. Pizzeria Piccola

Pizzeria Piccola is located in the quaint village of Wauwatosa in Milwaukee. This casual restaurant serves breakfast, lunch, and dinner. Dishes include the delicious thin-crust Neapolitan pizzas baked in a wood-burning oven and a variety of pasta dishes. Gluten- and dairy-free options are available as well. The restaurant also offers do-it-yourself pizzas and pasta, delicious paninis, and kid-sized pizzas and pasta!

Pizzeria Piccola

Address: 7606 W State St, Wauwatosa, Wisconsin, USA

Website: Pizzeria Piccola

Opening hours: Sun - Thu: 11am - 9pm; Fri - Sat: 11am - 10pm

3. Maxie's

We’re still doing our Sunday night fried chicken dinner but the rest of the menu is switched out for our Mardi Gras...

Posted by Maxie's on Sunday, 23 February 2020

Maxie’s serves up great southern-inspired dishes, including food from the Carolinas, the Cajun and the Creole cooking of Louisiana. Enjoy their slow-smoked southern barbecue and all kinds of comfort foods. Soups, salads, and sandwiches are also on the menu, along with burgers and seafood dishes, all washed down with craft cocktails and beer. All dishes come in kid-sized portions for the little ones.


Address: 6732 W Fairview Ave, Milwaukee, Wisconsin, USA

Website: Maxie’s

Opening hours: Mon - Sat: 4pm - 10pm; Sun: 4pm - 9pm

4. Beans & Barley

Top Kid-Friendly Restaurants in Milwaukee, Wisconsin
Source: Pixabay

Beans & Barley started out as a local health-food store in 1973 and over the years, has developed into a deli selling healthy products and a café serving healthy homemade dishes for breakfast, lunch, and dinner. They now also serve juices, smoothies, beer, cocktails, and wine. There is also a healthy kids’ menu available with options such as a bean and cheese or chicken and cheese burrito, cheese and chicken quesadillas, a hummus pocket, pita pizza, or a grilled cheese sandwich.

Beans & Barley

Address: 1901 E North Ave, Milwaukee, Wisconsin, USA

Website: Beans & Barley

Opening hours: 8am - 9pm (daily)

5. Highland House

Posted by Highland House Mequon on Tuesday, 12 September 2017

Highland House is a casual, fun restaurant with a colorful beach theme serving a mixture of Californian, Caribbean, and Mexican food. The family-friendly restaurant has indoor and outdoor seating, and a lively bar, which is famous for its margaritas. On the menu is a range of quesadillas, burritos, tacos, sandwiches, soups, salads, and burgers. On the kids’ menu is a selection of burgers, chicken fingers, corn dogs, quesadillas, tacos, pasta or mac & cheese. There is even an alcohol-free margarita for the kids!

Highland House

Address: 12741 N Port Washington Rd, Mequon, Wisconsin, USA

Website: Highland House

Opening hours: Mon - Thu: 11am - 10pm; Fri - Sat: 11am - 10:30pm; Sun: 11am - 9pm

6. Blue's Egg

We are serving our house-favorite Cod Fish Fry all day long today! If you can't wait 'til Friday, HH is the place to be!

Posted by Highland House Mequon on Wednesday, 26 February 2020

Blue’s Egg serves American brunch each day, surrounded by an art deco-inspired décor. Dishes are inspired by world cuisines and are prepared using high-quality, locally sourced, and sustainable ingredients. Eggs are prepared in all ways, including fried and omelets with a variety of ingredients. There is also a selection of inventive and delicious French toast options. Gluten-free, vegan and vegetarian options are also available. Kids’ sizes are also available.

Blue's Egg

Address: 317 N 76th St, Milwaukee, Wisconsin, USA

Website: Blue’s Egg

Opening hours: 7am - 2pm (daily)

7. Cafe At the Pfister

Posted by The Pfister Hotel on Thursday, 24 November 2016

Cafe At the Pfister is located in the Pfister Hotel in Milwaukee. It serves daily breakfast and lunch. Diners can enjoy gourmet pastries and desserts, along with a coffee from Starbucks. Relax at the coffee bar, catching up with the latest news, or playing a board game with the family. For lunch, enjoy a choice of seasonal salads, homemade soups, and sandwiches, including gluten-free options. Children aged 12 and under can enjoy the kids’ menu, which includes breakfast options like pancakes, French toast, and cereals. Or, they can opt for a lunchtime option that includes hotdog or burger with fries, grilled cheese, peanut butter, and jelly sandwiches.

Cafe At the Pfister

Address: The Pfister Hotel, 424 E Wisconsin Ave, Milwaukee, Wisconsin, USA

Website: Cafe At the Pfister

Opening hours: 6am - 2pm (daily)

8. Mader's Restaurant

Posted by Mader's Restaurant on Monday, 27 August 2018

Mader’s Restaurant has been rated the No. 1 German restaurant in Milwaukee by TripAdvisor. Family-owned and operated, the restaurant dates back to 1965. The collection of old, sepia-toned photos line the walls of the restaurant, adding to its charming décor. Brunch, lunch, and dinner are served here, including a range of German specialties, seafood, meat dishes, salads, soups and more. On top of that, you can also order its delicious apple strudel. Kid-sized versions are available for the little ones.

Mader's Restaurant

Address: 1041 N Old World 3rd St, Milwaukee, Wisconsin, USA

Website: Mader’s Restaurant

Opening hours: Mon - Thu: 11:30am - 9pm; Fri - Sat: 11:30am - 10pm; Sun: 11am - 9pm

9. Rodizio Grill Milwaukee

Rodizio OnFire is happening nightly for a limited time. Enjoy spicy menu features in addition to our regular dinner menu.

Posted by Rodizio Grill on Sunday, 23 February 2020

Rodizio Grill is a Brazilian steakhouse restaurant (churrascaria) in downtown Milwaukee. It is excellent for friends and families to enjoy a good meal in a pleasant setting. The restaurant serves juicy, rotisserie-grilled meats including beef, chicken and pork. There are also seafood options, a gourmet salad bar, hot side dishes and tasty desserts. They are all washed down with a specialty drinks menu, Brazilian wines and beer. Kid sizes are available for families.

Rodizio Grill Milwaukee

Address: 777 N Water St, Milwaukee, Wisconsin, USA

Website: Rodizio Grill Milwaukee

Opening hours: Mon - Thu: 4:30pm - 9pm; Fri: 4:30pm - 10pm; Sat: 11:30am - 10pm; Sun: 11:30am - 9pm

10. MOTOR Bar & Restaurant

Rev up for #TacoTuesday at MOTOR! This week’s special: Two seasoned chicken tacos topped with Bibb lettuce, pico de gallo and shredded cheese.

Posted by MOTOR Bar & Restaurant on Tuesday, 25 February 2020

MOTOR Bar & Restaurant is the only restaurant at the Harley-Davidson Museum in Milwaukee. It offers riverfront dining with great American food and drinks. The menu includes a selection of barbecued meats, including dishes such as beer-brined chicken, Cajun-style salmon caesar salad, as well as various salads, soups and starters, stuffed potatoes, burgers, and sandwiches. The kids’ menu includes short burgers, ooey-gooey grilled cheese, and creamy mac & cheese. Dine inside or outside in the fresh air after taking the kids inside the Harley-Davidson Museum.

MOTOR Bar & Restaurant

Address: 401 W Canal St, Milwaukee, Wisconsin, USA

Website: MOTOR Bar & Restaurant

Opening hours: Sun - Wed: 11am - 7pm; Thu - Sat: 11am - 9pm

Experience everything Milwaukee, Wisconsin has to offer!

Take the whole family along to enjoy exploring this great city of Milwaukee. Visit many fascinating museums, pretty public parks, iconic breweries, and more. Stop off to enjoy a great breakfast, brunch, lunch, or dinner in one of these top kid-friendly restaurants in Milwaukee, Wisconsin, USA.

Disclosure: Trip101 selects the listings in our articles independently. Some of the listings in this article contain affiliate links.

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Anne Sewell was born in England, but has spent most of her life in Africa - Malawi, Zimbabwe and South Africa - and now resides on the beautiful Costa del Sol in southern Spain. She loves writing...Read more

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