7-day Lake Michigan road trip with kids – Wisconsin & Illinois

Over 300 miles long and touching three US states, Lake Michigan is the world’s largest lake set in a single country – so it’s not surprising we spent most of our Lake Michigan road trip with kids reminding ourselves that this vast body of water wasn’t the sea.

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If you drove the whole 1,100-mile route, you could do it in around 15 hours without stopping but where would be the fun in that? Because it’s certainly not hard to spend a week (or longer) exploring along the Great Lake’s shores – dubbed the ‘faux-cean’ by a friend’s daughter.

While there’s plenty to tempt on the Michigan side, we decided to head up through Wisconsin, starting in Chicago, passing Wisconsin’s two biggest cities, then heading to pretty Door County on the peninsula between Green Bay and Lake Michigan. So if you fancy a more unusual US road trip with kids, here’s how to plan a 7-day road trip around Lake Michigan.

If you’re planning to hire a car for your Lake Michigan road trip with kids, one of my favourite sites is Zest Car Rental while Discover Cars is another great comparison site for car rental

Day 1 and 2 – Chicago

If you’re flying internationally (or across the US), you’re likely to be landing in Chicago – and even if not, you shouldn’t miss a visit to the Windy City while you’re visiting Lake Michigan.

It’s pretty much at the southern tip of the lake, so it works well if you’re heading up either the west side into Wisconsin (as we did) or the east side into Michigan, and then doubling back, or if you planned to complete the whole circuit of Lake Michigan and complete the Lake Michigan Circle Tour.

Alternatively you can save your Chicago time for the end of the trip, or split the days to bookend your one week Lake Michigan road trip with kids.

There are so many things to do in Chicago with kids that you could easily spend your whole week in the city exploring, but if you only do a few things, consider these.

Boat tour

There are few places better than the Chicago Riverwalk to stroll and enjoy the sunshine. The 1.25 mile trail has some great views of the skyline, as well as activities and plenty of places to grab some food along the way – it’s also fully paved and lined with public art.

Or head out onto the water itself with a river tour or some kayaking. This 90-minute architecture cruise is family-friendly and you can depart from the Riverwalk, while there’s also a 45-minute architecture cruise if you want a shorter option with younger kids – well worth doing, even if you find it pouring with rain, as we did.

Shedd Aquarium

The Shedd Aquarium may no longer be the largest aquarium in the world, but it held that title for years and is still one of the most impressive with 32,000 animals within the aquarium walls.

You won’t just see fish, there are exhibits with birds, snakes, amphibians, along with sharks. The Amazon Rising Exhibit has glass windows right down to the floor, so it’s easy for younger kids to see what’s happening, from electric eels and frogs to small monkeys.

Or drop by the Abbott Oceanarium exhibit to witness dolphins and beluga whales play, before heading to the Wild Reef Exhibit below for stunning corals, sharks and stingrays.

The Polar Play Zone is the perfect place for little ones to let off steam while playing dress up and pretend (as penguins, of course)! Don’t forget to visit the touch pool to see what starfish and stingrays feel like too, plus you’re right by the lake shore too.

Field Museum

Home to world famous 40ft T-Rex skeleton Sue, the expertly curated collections at the Field Museum are unmissable for anyone visiting Chicago with kids.

Once you’ve said hello to the 67 million-year-old Tyrannosaurus, the most complete T-Rex exhibit in the world, you can also see the largest dinosaur that ever lived, Maximo the Titanosaur at the natural history museum.

Then take a stroll to see the mummies and hieroglyphics of the Inside Ancient Egypt exhibit, before travelling to the 1800s to visit the Pawnee Earth Lodge, or one of the temporary exhibitions.

Buy skip-the-line tickets to the Field Museum with free cancellation, including the chance to opt for a one-hour VIP tour and ticketed exhibitions

Enjoy the views

Wherever you are in Chicago, you’ll be surrounded by the city’s famous skyscrapers, which sprung up after the great fire in the 19th century, and gave it its iconic skyline.

But as well as seeing them from ground level (and by boat), you can head up to the top of several to make the most of the views from on high.

At 1,450 feet tall, the iconic Willis Tower – formerly known as the Sears Tower – is the tallest building in Chicago, with unmatched views out across four different states and up to 50 miles from its glass Skydeck observatory.

Even more exciting, head to The Ledge to experience the exhilarating feeling of standing on high-strength laminated clear glass that juts out 4.3 feet from the 103rd floor, so you can look straight down from 1,353 feet up in the air!

Or check out tickets to 360 Chicago, formerly the John Hancock Building Observatory, 1,000ft above Michigan Avenue where you can also get tickets for Tilt – leaning against the glass as it slowly tilts away from the building so there seems to be nothing between you and the ground – as you can see from my photos, the views are still pretty impressive even if you don’t fancy that.

Spot The Bean

No trip to Chicago is complete without a stop at Millennium Park. You’ll find exhibitions and special programmes of events as well as the lovely gardens, plus the mesmerising Cloud Gate, better known as The Bean.

It’s worth knowing that there are often events on during the summer months, in particular, so the park is only open to ticket-holders – check the city’s calendar if you really want to get up close to the Bean as we were fenced out and had to be content with a long-distance peek.

Have some deep dish pizza

Pizza is usually a winner with kids anyway, but you shouldn’t miss a slice of Chicago’s famous deep pan pizza pie while you’re in the city.

You won’t be short of places to try it, although Lou Malnati’s bills itself as Chicago’s best – it may have been unlike any other pizza I’ve had (and I’ve had a lot) but I devoured mine. It’s well worth booking ahead (or get takeaway)… and definitely arrive hungry!

That’s only a taste of some of our favourites with plenty more things to do in Chicago with kids, as well as near the city

Day 3 – Chicago-Milwaukee

Wisonsin’s biggest city is only around 90 minutes from Chicago and while it might not spring to mind as the most family-friendly place to spend some time, there are some great things to do with kids.

Catch a ball game

Head to the American Family Field (formerly Miller Park) to see a baseball game. The Milwaukee Brewers are one of the best teams around right now, but whether you’re an avid fan or a total novice, there’s nothing quite like the atmosphere, even if (like me!) you’ve never seen a single baseball game before.

If you want to go all out, you can book parking to go tailgating before the game, although if you aren’t packing camping chairs and cooking equipment, it’s also easy to grab some food inside too. And if there isn’t a game on during your visit, you can also take a look around on a tour.

Check out tickets for Milwaukee Brewers games here

Visit a brewery

Milwaukee has a lot of breweries, which means a lot of brewery tours and while you might not immediately think it’s a great idea with kids, more than a few are family-friendly.

We headed to Lakefront Brewery which had plenty of families eating in the bar. While I wouldn’t take a toddler onto the tour, tweens and teens could find out more about what goes into brewing – needless to say, they can’t try the samples included with the tour (adults do need ID) although there are non-alcoholic alternatives.

And there’s plenty for grown-ups to try, both here and using tokens in the bar. The Bumblebear, made with real honey, got the thumbs up from me, although there’s everything from dark beer to IPAs to lagers to more beers than I could name, as well as test batches. Or visit for the Friday fish fry, complete with polka music (reservations essential).

Check out a museum

There are plenty of great museums in Milwaukee as well, from the Betty Brinn Children’s Museum, great for younger kids, to the Milwaukee Public Museum for a taste of history, from prehistoric times to Old Milwaukee and on.

Or Discovery World is right on the shores of Lake Michigan, with plenty of chance for kids to get hands on among the science and technology exhibits.

And for something a bit different? How about the Harley Davidson Museum, founded in Milwaukee – younger ones will enjoy the imagination station, while teens can appreciate the history and designing their own custom creation. Or for something seriously quirky, you could even head to the National Bobblehead Hall of Fame & Museum.

Take a tour

With only one day in Milwaukee, there are some fun tours to introduce you to the city. This Milwaukee bus tour lets you hop on and off, so you can see some of the highlights close up as well as covering a bit more ground than you’d manage on foot alone.

Or try a Milwaukee food tour, wandering around Downtown Milwaukee as you try a string of Wisconsin specialities, brats and cheese curds to fish fry, and custard.

Visit a water park

If your kids love water parks, save some time to head just outside Milwaukee to Springs Water Park with a huge 45,000 square feet to enjoy, from a chilled-out lazy river to more thrilling rides, whirlpools and more.

There’s a great splash zone for kids, with water cannons, a 600 gallon dump bucket and more water play areas, as well as a lily pad rope walk in another area. Set in the Ingleside Hotel, it’s around 20 miles from Milwaukee itself, so an easy drive to fit into your Lake Michigan road trip with kids.

Get more ideas of family-friendly things to do in Milkwaukee here as well, including the zoo and ways to explore the lakefront

Day 4 – Milwaukee to Madison

Around an hour or so further north is Wisconsin’s state capital, Madison, a university town that’s a lovely place to stroll around and explore.

Start by checking out the state capitol building – the dome is the biggest in the US by volume. It’s open to the public and there are free tours, or head up to the sixth floor observation deck if you’re visiting during summer. It’s worth knowing that if you visit on a Saturday, there’s also a popular farmer’s market in the square around the capitol.

Then stroll down colourful State Street, which is packed with quirky independent shops, plus plenty of places to eat and drink. Keep an eye out for the fudge stores, as well as all the statues of Bucky Badger, the mascot of the University of Wisconsin-Madison team.

There’s also a sculpture of a badger with its cub, which is rather more true to life, right down to the claws and mini snarl, rather than the cheery black and white striped ones!

We stopped for lunch at Dotty Dumpling’s Dowry, which – despite the name – has some great burgers. Get the cheese curds as well, an addictively good Wisconsin speciality.

Then head down to the waterfront and the university Union building – anyone is welcome to wander inside. Pick up a cone at Babcock Hall ice cream, then head out to the brightly coloured chairs at the back by the lakeside. There’s also a German beer hall if the weather isn’t so good.

When the sun’s shining, rent a kayak, paddleboard or canoe and explore Mendota or Monona Lake (Madison is one of only two major US cities to be built on an isthmus, set between the two lakes), relax at BB Clarke park with its sandy beach, or explore the trails at UW-Madison Arboretum.

If exploring the area won’t keep your kids entertained, there are plenty of other family attractions in Madison too – spot polar bears at the Henry Vilas Zoo or check out the interactive exhibits at Madison Children’s Museum.

Or with older kids, head out on a spooky Madison: Haunts and Terrors walking tour to discover ghostly happenings and ghoulish tales from across the city’s history.

Looking for tips for your Lake Michigan road trip with kids? Check out my advice on planning a road trip with kids, my road trip packing list, road trip activities for kids and the best road trip snacks for kids

Day 5 – Madison to Door County

Continuing further north, Door County is one of the prettiest parts of not just Wisconsin but all of America – lakefront communities where it’s all about local businesses rather than chains, a chilled-out way of life, and enjoying the countryside.

You can speed up the highway but you’d be missing out, so take the road to Manitowoc and Two Rivers, before following the coast past Alaska and Algoma towards Sturgeon Bay – stop to stretch your legs here, grab some lunch at Sonny’s Pizza, and stroll down 3rd Avenue for more souvenirs, espresso and window shopping.

If you’ve got time, you could look in at the free Door County Historical Museum, where kids can lock each other in the jail cell, as well as discovering a bit more about the area. Or hike part of the Sturgeon Bay section of the Ice Age Trail, which starts here and stretches for 1,200 miles – look out for the mammoth statue by Sonny’s.

Then cross from the lake shore over to the bay shore heading towards Egg Harbor, and continue north through Fish Creek. If you fancy a break, check out the family-friendly Door County trolley tours – there’s a 30-minute option in Egg Harbor.

Towards the northern tip, Ephraim and Sister Bay are easily two of the prettiest places to stay, with some great places to eat in Sister Bay – try to visit outside peak season though, when the crowds descend.

We stayed during late May after Memorial Day weekend when everywhere had opened up after the winter but peak season hadn’t quite begun – although the weather was already gorgeous. From mid June, when the US schools break up, until around October when the last leaf peepers have headed home, you can expect to have to share these little communities with a lot of others.

And if you think your kids might be bored away from the cities, there’s plenty to do – in fact, like my daughter, you’ll be wishing you’d stayed longer.

Nowhere is too far away, so it’s easy to start exploring after arriving from Madison, plus you’ll have time over the next two days, including a visit to Washington Island (see below), before heading back to Chicago.

Cave Point

Once, long ago, this area of Wisconsin was deep under water at the equator – pushed north over millions of years, today you’re getting a look at ancient seabed by the shores of Lake Michigan.

Worn away by the crashing of the waves, Cave Point is a fantastic place to explore with kids – easily one of my daughter’s favourites – with jutting rock ledges, some gorgeous viewpoints and trails leading through the woods. You can even spot fossils in the rocks as you go.

It goes without saying to be careful if the weather’s bad or if you have younger kids. If you’re visiting with older kids, you can kayak around Cave Point (this tour is open to all ages, but as it lasts 2 1/2 hours, I wouldn’t try it with little ones personally).

Stop in at Bailey’s Harbor on the way there or back – there are some great places to eat and some cute shops to pick up souvenirs

Eagle Tower, Peninsula State Park

Towering 60 feet above the Peninsula State Park, Eagle Tower is a great way to soak up the views out over Green Bay and towards pretty Ephraim.

There are 96 steps up, or an 850 foot accessible ramp with information boards dotted along: we chose to walk up the steps and stroll down the ramp to get the best of both worlds.

Peninsula Park has some easy trails to follow through the woodland, including a two-mile loop from the parking lot by Eagle Tower, plus shorter trails, as well as more viewpoints dotted around too. You’ll need a permit to visit, but you can get day passes to the state park (currently $13 for the day for vehicles with out of state license plates).

If you want to see Peninsula State Park from another angle, head out on a kayaking tour from Ephraim, running alongside Eagle Trail to Eagle Bluff Lighthouse – suitable for all ages, although again, I’d suggest it with older kids as you’d kayaking through Green Bay to get there

Play mini golf

I’m not sure where I’ve seen so many mini golf courses in such a small space – Sister Bay has several, Fish Creek has its own, as does Ephraim. My daughter is a huge fan, so we played a couple during our stay.

Pirates Cove in Sister Bay was easily the best – really fun, just challenging enough without being too frustrating and plenty of pirate theming across the 18 holes.

The 18-hole Evergreen course at Fish Creek is wheelchair accessible, which is a great bonus, and has spinners with extra challenges and obstacles every few holes, as well as the possibility of knocking a few points off your score.

Take a boat tour

Along with the kayak tours, there are some great boat trips to explore Door County from the water. This 90-minute boat tour around Peninsula State Park includes some history of the area, as well as a bit on the geology of the Niagara escarpment (as it’s known) plus some great views. For a shorter option, this hour-long cruise from Fish Creek takes you to the Strawberry Islands.

Or head out on a two-hour cruise from Sister Bay towards Plum Island Lighthouse and the infamous ‘Death’s Door’ crossing, which gives the county its name.

Eat some cherries

You’ll drive past endless cherry orchards as you explore Door County – visit in early May and you can see them in blossom, or travel later in the year and you can pick your own.

Whenever you visit, there are farm shops galore to pick up everything from cherry pie to cherry salsa.

Spot the rooftop goats

Keep an eye out for the goats grazing on the roof at Al Johnson’s Swedish Restaurant in Sister Bay – the sloping roofs are grassed over, and if you visit during daytime while the restaurant is open, you’ve got a good chance of spotting a few of the herd nonchalantly munching away.

We loved the Swedish pancakes on the menu inside too, although if you manage to leave without buying a fluffy souvenir goat for your kids, you’re doing better than I did!

Visit a winery

Door County is on a similar latitude as northern Portugal, an area famous for its wines. And while wine growing is a lot newer here, there are a whole string of wineries to stop off and enjoy a few tastings if you fancy.

Not a fan of wine? There’s also cider, beer and whisky brewed and distilled around here too.

Day 6 – Washington Island

One of my favourite days out in Door County during our Lake Michigan road trip with kids was heading to its northernmost point, Washington Island.

It’s only a short drive from Ephraim and Sister Bay to the ferry from North Point over to the island, with some lovely views during the 30-minute journey (they pack the cars in tight, so hop out fast if it’s busy!).

There are bikes and golf buggies to hire on the island, or it’s easy to drive around if you’re taking your car. Or look out for the Washington Island Cherry Train Tours, which has at least three stops and guided commentary, lasting up to two hours.

Don’t miss Schoolhouse Beach with its perfectly smooth curved stones – great for skimming, building cairns or just lobbing into the incredibly clear turquoise water! Or take a wander along the short Heritage Hiking Trail in the woods, which is very child-friendly.

You’ll also pass a lavender farm as you explore the island, and you can take a look inside the old Post Office too, before grabbing something to eat or drink – burgers and ice cream at Albatross Drive In, coffee and baked goods at Red Cup, while across the island Jackson Harbor Soup has great views and (as its name suggests) great soup!

Allow at least half a day, including plenty of time for the ferry crossings, but you may also be able to fit in some more of the things to do around Door County once you head back to the mainland.

For more ideas of things to do during a day on Washington Island with kids, check out this post

Day 7 – Door County

If you have time before setting off, make the most of it by visiting a few more Door County attractions from the Day 5 list above.

The drive back to Chicago airport takes around four hours, depending on traffic, so if you have an overnight flight home, you can still fit something in before hitting the freeway south or along your route.

Alternatively, you could plan your Chicago days at the end of this road trip around Lake Michigan, when you’re over the jetlag, so you’re back in the city in the run-up to your flight.

Got more time?

Instead of heading south from Door County straight back to Chicago, take the road north from Green Bay to cross over to northern Michigan and its forests and state parks. It’s easy to spent another week driving slowly south but here are a few highlights to look out for.

• Head towards St Ignace, then take the Mackinac bridge across the Straits of Mackinac to Mackinaw City and the east side of Lake Michigan.
• Take a day trip to Mackinac Island – home to the only US highway where you can’t drive a car (there are no cars on the island at all), it’s a little like stepping back in time with horse and carts, and a chilled-out vibe. Save some time to visit Fort Mackinac while you’re there too. Ferries run from St Ignace and Mackinaw City.
• Stop at Traverse City, famous for its cherries – so much so, it’s got the name the Cherry Capital of the World
• Marvel at the sand dunes at Sleeping Bear Dunes National Lakeshore – formed by ancient glaciers, you an climb the dunes or explore the forests along the way.
• There are lots of different routes as you head further south – look out for Little Sable Point Lighthouse on the lake, and stop at South Haven or Grand Haven along the way for some beautiful beaches. Not far inland, there’s also Grand Rapids, home to the Gerald Ford Presidential Museum and 40 breweries.

For another road trip from Chicago with kids, check out my itinerary for a Midwest road trip

*First published 2024, last updated 2025*

Disclosure: This post contains affiliate links – any purchases you make are unaffected but I may receive a small commission. All opinions are my own, based on our own Lake Michigan road trip with kids

Main image/Downtown Milwaukee/cherry trees courtesy of Depositphotos, all others copyright MummyTravels

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