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Waukesha County

Routes
Hikes

Waukesha County

The best family-friendly hikes and walks in Waukesha County

4.7

(41)

838

hikers

31

hikes

Family friendly hiking trails in Waukesha County traverse a landscape shaped by glacial activity, featuring drumlins and kettle moraines. The region offers diverse parklands, woodlands, and wetlands, providing varied terrain for outdoor exploration. Rivers like the Fox River contribute to the ecological diversity, creating habitats within the county's extensive trail network.

Best family friendly hiking trails in Waukesha County

  • The most popular family friendly hiking route is Ice Age Trail to Lapham Peak, a 2.7 miles (4.4 km) trail…

Last updated: April 25, 2026

12

hikers

#1.

Ice Age Trail to Lapham Peak

4.43km

01:16

110m

100m

Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.

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Easy

4

hikers

5.24km

01:20

20m

20m

Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.

Easy
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38.7km

09:59

190m

210m

Hard hike. Very good fitness required. Easily-accessible paths. Suitable for all skill levels.

Hard

2.63km

00:41

20m

10m

Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.

Easy

1.86km

00:28

0m

0m

Easy hike. Great for any fitness level. Easily-accessible paths. Suitable for all skill levels.

Easy
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Popular around Waukesha County

Family-friendly hikes in Kettle Moraine State Forest - Lapham Peak Unit

Family-friendly hikes around Delafield

Family-friendly hikes around Menomonee Falls

Tips from the Community

Lisa
June 29, 2025, Fox River Park

Take in a beautiful uplift of nature in this 257-acre park: You'll find wildflowers, mature forest and wetlands. Keep your eye out for wildlife, too.

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This in a nice spot to take a break and take in the beautiful views of Pewaukee Lake.

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The Lapham Peak Observation Tower is located in the Kettle Moraine State Forest - Lapham Peak Unit and surrounded by multiple nice hiking trails. The 45-foot tower provides stunning views of the surrounding forest!

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Ten thousand years ago, a glacier covered this part of Wisconsin. Kettle Moraine State Forest is a mark of its passage — a combination of terrain gouged out by the glacier's passage, and rocky moraine that the glacier dropped as it passed by and melted. There are lots of great hiking trails here, many of them lighted.

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Amy
October 9, 2022, Menomonee Park

This is a 460 acre park with a swimming lake (Lannon Pond), lots of hiking trails, campsites and picnic areas. At the end of the 19th century, the park was used for quarrying stone. You'll spot historical relics from this time such as an old stone crusher.

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Lapham Peak is the highest point in Waukesha County. You bike up a moderately steep park road which goes almost all the way to the summit. On top is a wooden observation tower with great views of downtown Milwaukee, Holy Hill, and the Kettle Moraine.

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Frequently Asked Questions

How many family-friendly hiking trails are available in Waukesha County?

Waukesha County offers a wide selection of family-friendly hiking trails. You'll find over 20 routes specifically curated for families, with the majority being easy to moderate in difficulty, ensuring enjoyable outings for all ages.

Are there any easy, short loop trails suitable for families with young children?

Yes, there are several easy, shorter loop trails perfect for families. For instance, the Fox River Park Loop is a gentle 2.6 km route through woodlands and wetlands. Another great option is the Fox Brook Lake trail, which is even shorter at 1.8 km with minimal elevation gain.

What kind of natural features can we expect to see on these trails?

Waukesha County's landscape was shaped by glaciers, so you'll encounter unique features like rolling hills, glacial drumlins, and kettle moraines. Many trails wind through diverse woodlands, wetlands, and along scenic lakes. You might also spot abundant wildflowers in spring or vibrant fall colors.

Are there any trails with scenic viewpoints or observation towers?

Absolutely! The Ice Age Trail to Lapham Peak route leads to the Lapham Peak observation tower, offering panoramic views of the surrounding glacial landscape. It's a rewarding hike with a great payoff.

What do other hikers say about the family-friendly trails in Waukesha County?

The komoot community highly rates the family-friendly trails in Waukesha County, with an average score of 4.67 stars. Reviewers often praise the well-maintained paths, the peaceful natural settings, and the variety of easy options suitable for all family members.

Are there any parks with hiking trails that also offer other family amenities like playgrounds?

Many of Waukesha County's parks are designed with families in mind. While specific playground information isn't always detailed for every trail, parks like Menomonee Park, which features the Menomonee Park Loop, often provide a range of facilities including picnic areas and sometimes playgrounds, making them ideal for a full family day out.

Can we find trails that are suitable for strollers or wheelchairs?

Waukesha County has an extensive network of paved trails that are generally suitable for strollers and wheelchairs. The Lake Country Trail and sections of the Fox River Trail are good examples of accessible options, offering smooth surfaces and gentle grades for a comfortable experience.

What are some notable landmarks or points of interest we can explore near the trails?

Beyond the trails themselves, Waukesha County boasts several points of interest. You can visit various beautiful lakes like Nagawicka Lake or Pewaukee Lake. The View of Kettle Moraine State Forest is also a highlight, showcasing the region's unique glacial topography.

Are there any trails that follow old railway lines?

Yes, Waukesha County features several 'rail-trails' that are built on former railway lines. The Lake Country Trail is a prime example, offering a long, relatively flat path with scenic views of the mid-kettle moraine area and several lakes. The New Berlin Recreation Trail is another such option.

Where can I find more information about Waukesha County parks and trails?

For comprehensive details on Waukesha County's park system, including specific park amenities and trail maps, you can visit the official Waukesha County Parks website. They provide valuable resources for planning your visit. You can find more information at waukeshacounty.gov.

Are dogs allowed on the family-friendly hiking trails?

Many parks and trails in Waukesha County are dog-friendly, but leash rules and specific regulations can vary by location. It's always best to check the specific park's guidelines before heading out with your furry friend to ensure a pleasant experience for everyone.

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Check out more Hikes throughout Waukesha County below and find the perfect route in your destination.

Kettle Moraine State Forest - Lapham Peak UnitMenomonee FallsDelafield

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