5 Best Doors Open Tours for Kids in 2023 (Free!)

One of our favorite ways to explore the city is with a Milwaukee Tour and Tasting adventure.

That’s why we’re so excited for Doors Open Milwaukee, presented by Historic Milwaukee, Inc. It’s one of our favorite events of the year!

For this annual event, you can visit over 170 buildings around Milwaukee for free, and take more than 100 free tours of buildings around Milwaukee.

If you have kids, there are several locations that are designated as specifically child-friendly. 

Here are five of the free tours you will not want to miss:


1. Milwaukee PBS

Saturday, September 23rd from 10:00 -5:00
1036 N 8 St.

Visitors will get a behind-the-scenes look at Milwaukee PBS. Along with a brief tour, visitors will get a chance to be on camera, learn about locally-produced programs and find out what’s coming up this fall.

Families can learn more about PBS KIDS, make a craft, and take advantage of great photo opportunities.

Enter at 1036 N. 8th Street at the intersection of 8th and Highland. Take the elevator to the 4th floor for the studio tour. Visit the remote trucks on the street and stop by the PBS KIDS Korner in the lobby just inside the door. 


2. Firehouse Station 21

2050 N. Palmer St.
Saturday, September 23rd from 10:00 – 5:00

Firehouse Station 21 was designed in 1894 by Milwaukee Fire Department foreman Sebastian Brand. Firefighters will be on site to talk about firefighting and answer questions.


3. Firehouse Station 1

784 N. Broadway
Saturday, September 23rd from 10 am – 5 pm

Home to Engine #1 and TEMS (Tactical EMS Team), this is the oldest company in the Milwaukee Fire Department, founded in 1839. Take a guided, behind-the-scenes tour of the oldest firehouse in Milwaukee, talk to firefighters, and see the equipment housed there as well as view historic photos of past crews and fire engines.

Firehouse Station 27 will also be open for the first time this year.


4. Havenwoods State Forest

6141 N Hopkins St.
Saturday, September 23rd fro 8:30 a.m. – 4:00 p.m.

Havenwoods is Wisconsin’s only Urban State Forest.

Visitors of all ages can drop in any time from 8:30-4pm to see their reptiles and amphibians and participate in family-friendly activities.

Join a naturalist on a 45-minute nature hike at 9 a.m. Adults and older kids can discover Havenwoods’ fascinating past in a 20-minute presentation at 10 a.m., 12 p.m., and 3 p.m.


5. MPS Survive Alive House

Saturday, September 23rd fro 10:00 – 5:00 p.m.
2059 S 20th St

The Survive Alive House educates thousands of Milwaukee Public School students on how to escape a fire in their home.

Visitors will see videos on how to escape a burning building safely. Kids can learn how to make an escape plan of their own house to be prepared and see a pretend house where they can actually practice escaping a pretend house fire.

The House opened its doors in 1992, and each year over 13,000 Milwaukee children visit each year.


Ticketed Tours

These tours are also free, but they require pre-registration. Here are some that are great for kids:

Lulu & Rocky Family Tour

Check back in September for more information!


Milwaukee City Hall

Take a rarely-offered climb up five steep, narrow flights of stairs. Get a chance to ring the “Solomon Juneau” — the 11-ton bell named after Milwaukee’s first mayor. Learn about how and why the bell is ringing again after over 75 years of silence. This tour is not wheelchair accessible.

More info >>


Jones Island

Capable of treating more than 300 million gallons a day, the facility is owned and governed by the Milwaukee Metropolitan Sewerage District (MMSD) and operated and maintained by Veolia Water Milwaukee.

Visitors will learn about the history of Jones Island, the water reclamation process, MMSD programs, the making of Milorganite®, and Veolia North America.

And kids won’t want to miss the “workhorses of wastewater,” collecting a set of “bug” cards, and getting up close and personal with the big trucks! Visitors will receive a free 5lb. bag of Milorganite® upon their exit, while supplies last. Learn more about the site here.

For the Kids:

  • Explore the Big Trucks
  • Learn about the Workhorses of Wastewater
  • Collect all 9 “good bug” cards
  • Visit the giant coloring wall

More info >>


Find out more about Doors Open Milwaukee here.

About the author

In 2013, Calie Herbst, a former teacher with three little ones, saw a need for a “One Stop Shop” for family fun in Milwaukee. So she founded Milwaukee With Kids. Her goal was to find the best this city has to offer families and share it with other parents. In one place. In 2019, she published "Exploring Milwaukee WIth Kids", a comprehensive Milwaukee travel guide for families and kids. She appears regularly on WISN News, Fox 6's 'Real Milwaukee', B93.3, and Wisconsin Morning News. She has been featured in Medium, the Milwaukee Journal Sentinel, NPR, the Wisconsin Jewish Chronicle, and on CBS 58 News. Calie is available for hosting, moderating and media appearances.

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