Food & Drink

Food, Fun, and Family: 14 Must-Try Restaurants in Milwaukee!

Milwaukee is a city that prides itself on its diverse food scene. From classic American fare to international cuisine, the city has something for everyone.

But when it comes to family dining, not all restaurants are created equal. That's why we've compiled a list of the best family restaurants in Milwaukee.

When it comes to dining out with kids, there are a few key factors that make a restaurant stand out. First and foremost, the food needs to be delicious and appealing to both kids and adults.

But that's not all – the atmosphere and service also play a big role in creating an enjoyable dining experience for families. Restaurants that are too formal or stuffy may not be the best fit for young children, while those that are too casual may lack the quality and attention to detail that parents appreciate.

Our list of the best family restaurants in Milwaukee takes all of these factors into account, showcasing eateries that offer a well-rounded experience for diners of all ages. From pizza joints to brunch spots to classic diners, these restaurants have earned a reputation for serving up delicious food in a welcoming atmosphere.

So whether you're a local looking for a new family-friendly spot or a visitor to the city in search of a meal that everyone will love, read on to discover the best family restaurants in Milwaukee.

1. Rodizio Grill Brazilian Steakhouse Milwaukee

Rodizio Grill Brazilian Steakhouse Milwaukee
777 N Water St, Milwaukee, WI 53202 (Google Maps)

Rodizio Grill Brazilian Steakhouse Milwaukee is a great family restaurant that offers exceptional food and service.

The salad bar is loaded with great stuff, making it a great value for all. The staff is wonderful and knowledgeable about the meats they are serving.

The ambience is beautiful and the experience is great. The ceviche needs more lime juice and the drinks are yummy.

The all-you-can-eat Brazilian steakhouse is definitely worth a visit.

2. Oscar's Pub & Grill

Oscar's Pub & Grill
1712 W Pierce St, Milwaukee, WI 53204 (Google Maps)

Oscar's Pub & Grill is a family restaurant with a great casual pub vibe.

They are known for their delicious and tasty burgers, and their extensive beer selection on tap. The food is amazing and always cooked to order.

The staff is friendly and attentive, making the dining experience enjoyable. The prices are very affordable, making it a great option for families on a budget.

Oscar's is definitely worth checking out for anyone looking for a great burger joint with a lively atmosphere.

3. Swingin' Door Exchange

Swingin' Door Exchange
219 E Michigan St, Milwaukee, WI 53202 (Google Maps)

Swingin' Door Exchange is a cozy and intimate bar & grill that serves American comfort food and delicious cocktails.

The rustic decor and saloon-like atmosphere create a unique experience for diners.

The menu features finger-friendly appetizers, sandwiches, soups, and wraps. The kitchen prepares food quickly and the service is prompt and friendly.

Swingin' Door Exchange is a great spot for families looking for a casual dining experience in a charming setting.

4. Story Hill BKC

Story Hill Bkc
5100 W Bluemound Rd, Milwaukee, WI 53208 (Google Maps)

Story Hill BKC is a cozy and casual American restaurant that offers a limited but delicious selection of dishes.

The menu is designed for sharing, which is perfect for families. The staff is friendly and knowledgeable, and the atmosphere is comfortable for conversations.

The food is well-seasoned and tasty, with a nice variety of options. The homemade rolls are a must-try, and the desserts are worth saving room for.

The restaurant also has a bottle shop with a curated selection of wines, beers, and spirits. Story Hill BKC is a great spot for a weekend brunch or a night out with friends and family.

5. Goodkind

2457 S Wentworth Ave, Milwaukee, WI 53207 (Google Maps)

Goodkind is a cheery New American eatery and tavern that offers inventive seasonal cuisine and house cocktails. The menu changes frequently and offers something for everyone, including vegetarians.

The restaurant has a cozy and comfortable ambiance with charming details like hanging lamps and live plants all around.

The cocktails are creative and well-crafted, and the beer and wine lists are well-curated. The service is attentive and knowledgeable, making for a fabulous dining experience.

Goodkind is a great spot for a date night or a family gathering. Be sure to make reservations in advance and save a few minutes to find parking on the street.

6. Maxie's

6732 W Fairview Ave, Milwaukee, WI 53213 (Google Maps)

Maxie's is a boisterous family restaurant that serves up Cajun, Creole, and BBQ dishes.

The restaurant has a raw bar and a bi-level space with dark-red walls. The staff is friendly and attentive, and the food is fresh and flavorful.

Customers recommend trying the fried green tomatoes, gumbo, and oysters. The portions are generous, so be prepared to take some home.

Maxie's also offers gluten-free options for those with dietary restrictions. If you're looking for a fun and lively restaurant with great food, Maxie's is worth a visit.

7. Sweet Diner

Sweet Diner
239 E Chicago St #103, Milwaukee, WI 53202 (Google Maps)

Sweet Diner is a stylish family restaurant serving delicious diner-style food. The chic and modern aesthetic creates a pleasant atmosphere for breakfast, brunch, or lunch.

The menu offers interesting options with a wide variety of dishes to choose from. The friendly staff provides excellent service, and the food is beautifully plated and of high quality.

Prices are reasonable, and the portions are generous. Sweet Diner is a great spot for a family brunch, and the kids' pancakes are a hit.

Gluten-free and dairy-free options are available and are still tasty. This is a must-visit location for anyone looking for a great meal in a welcoming environment.

8. Honeypie Cafe

Honeypie Cafe
2569 S Kinnickinnic Ave, Milwaukee, WI 53207 (Google Maps)

Honeypie Cafe is a retro-style eatery serving creative comfort food and desserts made from local ingredients.

The menu features breakfast for dinner, a thoughtful selection of dishes, and locally sourced products.

The restaurant has a friendly staff and a cozy atmosphere. The pies are enormous and delicious, and the prices are reasonable compared to other restaurants in the area.

Honeypie Cafe is a great option for those looking for modern comfort food in diner-style digs.

9. Zocalo Food Park

Zocalo Food Park
636 S 6th St, Milwaukee, WI 53204 (Google Maps)

Zocalo Food Park is a fantastic family-friendly restaurant that offers a diverse range of food trucks. The location is clean and has plenty of seating options for everyone.

The variety of food is impressive, making it an ideal place for the whole family to dine. They even have live music on occasion, creating a fun and lively atmosphere.

The use of smartphone ordering for food and drinks is incredibly convenient, making the service fast and efficient.

The outdoor seating is also a highlight, with private huts available for rent. Zocalo Food Park is a must-visit for anyone looking for a unique dining experience.

10. Calderone Club

Calderone Club
842 N Old World 3rd St, Milwaukee, WI 53203 (Google Maps)

Calderone Club is a family restaurant that serves delicious Italian food. The menu is not extensive but has a decent selection of classic Italian dishes and pizzas.

The restaurant has a warm and cozy atmosphere and offers outdoor seating. The wine selection is also impressive.

The service is accommodating and professional. The meatballs are a must-try, and the chocolate spoon cake is highly recommended for dessert.

The restaurant can get busy, so reservations are recommended. Calderone Club is a great option for anyone looking for authentic Italian food in a comfortable setting.

11. Mader's Restaurant

Mader's Restaurant
1041 N Doctor M.L.K. Jr Dr, Milwaukee, WI 53203 (Google Maps)

Mader's Restaurant is a classic German restaurant with a rich history. The decor is Bavarian and the waitstaff is traditionally attired.

The menu offers a wide selection of authentic German dishes, including schnitzel, sauerkraut, and spaetzle. The food is excellent, although a bit on the pricey side.

The atmosphere is warm and welcoming, with plenty of seating for all preferences. The beer, wine, and cocktail list is good, and the old-fashioned is a must-try.

Valet parking is available for convenience. Mader's Restaurant is definitely worth a visit for anyone who loves German cuisine and wants to experience a piece of Milwaukee's history.

12. MOTOR Bar and Restaurant

Motor Bar And Restaurant
401 W Canal St, Milwaukee, WI 53203 (Google Maps)

MOTOR Bar and Restaurant is a classic American eatery with a modern twist. It is located at the Harley Davidson Museum and serves delicious American fare.

The restaurant has a relaxing ambiance and beautiful views. The food is fantastic, and the service is excellent.

They have a good selection of beers and a variety of dishes, including burgers, Mac and cheese, brisket nachos, and fish fry. The outdoor patio is dog-friendly, and the bathroom is accessible.

Whether you're visiting the museum or just looking for a nice place to grab a bite and a cocktail, MOTOR Bar and Restaurant is worth checking out.

13. Landmark Family Restaurant

Landmark Family Restaurant
3451 S Kinnickinnic Ave, Milwaukee, WI 53207 (Google Maps)

Landmark Family Restaurant is a cozy diner-style eatery that offers hearty, homemade meals at affordable prices.

The menu features a variety of dishes, from liver and onions to tacos, and the portion sizes are generous. The staff is friendly and attentive, making customers feel welcome and at home.

The atmosphere is relaxed and casual, perfect for a family brunch or catching up with friends. The restaurant is a local favorite, and for good reason – the food is delicious and the service is top-notch.

If you're looking for a no-fuss dining experience that won't break the bank, Landmark Family Restaurant is definitely worth a visit.

14. Engine Company No. 3

Engine Company No. 3
217 W National Ave, Milwaukee, WI 53204 (Google Maps)

Engine Company No. 3 is a family restaurant that offers great food and a lovely atmosphere. The restaurant has a tapas-style menu that features dishes from all around the world.

The portions are generous and the prices are reasonable. The staff is friendly and helpful, and the service is fast.

The restaurant is located in a refurbished old firehouse and has a unique and interesting design.

The brunch menu is especially noteworthy and offers many fresh and healthy options. The restaurant is a great choice for anyone looking for a delicious and unique dining experience.