How to Plan a Colorful Fall Getaway to Door County with Kids: 4-Day Itinerary for Families 

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We've taken our daughter to Door County twice in the fall, and honestly-we'd go back again in a heartbeat. There's just something special about this little slice of Wisconsin. And, it's made even more magical by the vibrant fall colors. In the fall, the crowds have thinned, the air is crisp, and the peninsula seems to glow with color. Imagine everything from fiery red and golden leaves to beautiful sunsets over the water.

For families, fall in Door County is the perfect mix of adventure and relaxation. Our days were filled with hikes in state parks, beach stops (yes, even in fall!), orchard visits, and plenty of sweet treats (like Door County's famed cherry pie-YUM!). Evenings were all about slowing down and connecting as a family. From enjoying evening fish boils to cozying up by a bonfire, Door County's slowest moments are when the peninsula really shines. 

If you're looking for one of the best Midwest fall getaways with kids, this 4-day itinerary will take you through exactly how we made the most of our time in Door County. I've included where to stay, what to eat, and the family-friendly stops you won't want to miss. Door County is just 2.5 hours from Milwaukee, 4 hours from Chicago, and less than 6 hours from Minneapolis (where we are based).

P.S. Door County is not a city in Wisconsin. It's a whole peninsula made up of several charming small towns. Each town has its own personality, shops, eateries, hotels, and family-friendly adventures to discover. This itinerary will help you explore several of the best towns in Door County with your kids!

Tips + Packing List for Door County with Kids

Thinking about a fall weekend in Door County with the kids? Before you go, there are a few things worth knowing! From the best time to visit to simple packing tips, these little reminders will help make your family trip to Door County smooth, fun, and stress-free.

READ NEXT: Colorful Fall Weekend Getaways from Minneapolis with Kids

A Few Tips

Here are a few tips for visiting Door County in the fall with kids:

• Time your fall visit for peak colors. Early to mid-October is usually when Door County is at its most vibrant. We've gone twice during Minnesota's MEA fall break, and it is perfect! (MEA is generally the teen weekend of October.) Fall is undoubtedly one of the best times to visit Door County with kids!
  
• Pack layers (and extras for the kids!). Fall weather here can swing from sunny and warm to chilly and breezy, even on the same day. A cozy hoodie or jacket will be your best friend.
  
• Don't miss the local treats. From cherry pies to cider donuts, fall is the tastiest time of year in Door County.
  
• Book activities early. Whether it's a scenic boat tour or a cozy hotel, fall weekends are popular in Door County, and spots fill up fast.
  
• Mix in downtime to actually soak in the fall vibes. Between hikes, orchard stops, and waterfront adventures, plan a little breathing room so everyone (including you!) can recharge and enjoy the fall colors.

Packing List Reminders for Door County with Kids

In addition to the things you usually pack for a vacation with kids, don't forget these things for traveling to Door County with kids:

• Layers, layers, layers. Think hoodies, jackets, hats, and (maybe even) gloves. Fall days on the peninsula can feel like summer one minute and late autumn the next.
  
• Hiking boots or sneakers for exploring fall trails. Here are my top picks for women’s and kids’ hiking shoes.
  
• Rain gear. Lightweight rain jackets and waterproof shoes are your friends in the fall!
  
• Snacks + refillable water bottles. Road trip musts wherever you go.
  
• Outdoor extras. It's best to have some sunscreen, bug spray (yes, even in fall), and a small first-aid kit on hand.
  
• Entertainment for downtime. We love packing extra books, travel games, or a tablet for winding down after a full day of exploring.
  
• Reusable shopping bags. Handy for orchard goodies, farmers’ markets, or those irresistible Door County souvenirs.

Where to Stay in Door County with Kids

When planning a fall getaway to Door County with kids, choosing the right place to stay makes all the difference. On our trip, we split our time between Sturgeon Bay and Ephraim. 

For our first night, we stayed at the Best Western Maritime Inn in Sturgeon Bay. It was a little dated but totally fine for a one-night stay. Its location gave us the chance to spend more time exploring Sturgeon Bay (which we didn't do on our first visit) without adding extra drive time. Staying one night in Sturgeon Bay also cut the drive from Minneapolis on the way in, which we appreciated.

The rest of our trip was spent at Ephraim Shores Resort, and we absolutely loved it. The hotel has a fun, old-school vibe. It ticks all the family boxes with comfy rooms, a game room, and an indoor pool with a hot tub. The waterfront location is STUNNING. They even have balconies off the second-floor rooms. I highly recommend booking a second-floor room on the lake side if you can! Plus, the staff is so kind and welcoming. It's a little kitschy in the best way possible, and now it's one of our favorite places to stay in Door County. This will be the place we book for our next visit, too.

Here are a Few More Popular Door County Hotels + Resorts for Families to Consider

If you're planning your own Door County family vacation, there are plenty of other kid-friendly hotels and resorts to consider. Each town on the peninsula has its own unique vibe, but you really can't go wrong. 

• Bridgeport Waterfront Resort (Sturgeon Bay): Spacious rooms, pool, and waterfront views.
  
• Landmark Resort (Egg Harbor): Apartment-style rooms with kitchens, three pools, and on-site dining.
  
• Newport Resort (Egg Harbor): A family favorite with a playground, indoor and outdoor pools, and a central location. One of the most affordable hotels on this list.

• Parkwood Lodge (Fish Creek): Affordable option with family rooms, a game room, and a pool.
  
• Sister Bay Inn (Sister Bay): Traditional-style rooms, pool, and complimentary breakfast.
  
• Scandinavian Lodge (Sister Bay): Suites and condos with full kitchens, plus indoor/outdoor pools and a playground.

For something different, you'll also find unique boutique hotels and vacation rentals in Door County:

• Goose & Twigs (Sister Bay): A boutique hotel with modern design, a coffee shop, and a walkable location.
  
• The Dörr Hotel (Sister Bay): Stylish and new with Scandinavian-inspired design.
  
• The Flats on Church Street (Egg Harbor): Modern vacation rentals with extra space for families.
  
• Alpine Resort (Egg Harbor): Family-friendly cottages with multiple bedrooms, living space, and resort amenities.

Day 1 in Door County with Kids this Fall: Sturgeon Bay + Ephraim

Your first full day kicks off in Sturgeon Bay, the gateway to the peninsula and a perfect starting point for Door County family vacations. After checking into your hotel the night before (we stayed at the Best Western Maritime Inn), you'll be ready to dive into some fun things to do in Sturgeon Bay with kids before making your way north to Ephraim (your home base for the rest of this itinerary).

READ NEXT: Vibrant Fall Day Trips from Minneapolis for Families

Start Your Day with Coffee at Lawlss Coffee in Sturgeon Bay

Your fall trip to Door County with kids officially starts at Lawlss Coffee (downtown Sturgeon Bay). This cute café has a quirky twist-it's set inside a historic bank. And yes, you can even sip your latte while sitting inside the old vault! The coffee menu is great, with plenty of options to fuel parents for a busy day. Plus, pastries that everyone will love.

After breakfast, take a little time to wander downtown. There are lots of cute shops nearby, including a cozy knitting store that ended up being one of my daughter's favorite finds. Downtown is also lined with fall-themed storefronts, making your morning walk even more seasonal! Best of all, Lawlss is just minutes away from your first big adventure of the day. I think that it's the perfect starting point for your Door County family vacation (it was for us!).

Learn about Local History at the Door County Maritime Museum

One of the best things to do in Door County with kids is the Door County Maritime Museum in Sturgeon Bay. As someone who LOVES visiting maritime museums, I can honestly say this one is among the best we've ever visited. Start by taking the elevator all the way up for sweeping views of the bay. Then, work your way down each floor, exploring exhibits that highlight different aspects of Door County's rich maritime history.

We especially loved the Shipwreck Exhibit. It's interactive and perfect for curious kids. There's even a simulated video where you can steer a ship's wheel and watch it crash (spoiler: you can never avoid the shipwreck! Plus, crates that kids can open to see what they might find on a ship. We also really enjoyed the People of the Water Exhibit. It was fascinating to learn about the area's earliest indigenous peoples and their lives on the shores of Lake Michigan.

If the timing works, don't miss the tugboat tour aboard the 100-year-old John Purves, offered May through October. Although we didn't do it (due to timing reasons), we’ve heard that this tour is incredible. You get to explore the engine room, bedrooms, bathrooms, kitchen, and captain's quarters. Overall, this museum is a great spot to learn about local history in a hands-on way. Not to mention, learn many stories of Door County's nautical past.

Lunch  + a Quick Board Game at The Gnoshery

Before leaving Sturgeon Bay, make a stop at The Gnoshery. It is easily one of our favorite spots in Door County for a fun and relaxed lunch. 

This quirky café doubles as Door County's premier board game café. So, while you're enjoying your meal, the kids (and adults!) can dive into countless games from their massive selection. You can even buy a game or two to take home if you fall in love with one!

Additionally, the menu offers a wide range of tasty options. I highly recommend The Gnosh. It's packed with the best flavors of fall. From soups to sandwiches, it's a great place to refuel after exploring some of the best things to do in Sturgeon Bay with your kids.

Hike + Explore Cave Point County Park

On your way to Ephraim (where you’re going to check in at Ephraim Shores), make a stop at Cave Point County Park. It's one of the best things to do near Sturgeon Bay with kids and a must-see during fall in Door County. 

This stunning park features wave-worn dolomite and limestone ledges, underwater caves, and breathtaking views of Lake Michigan. If you only have time for a quick stop, take the half-mile trail through the vibrant autumnal forest. It's perfect for a quick hike with kids. With that said, some of the best viewpoints are just a short walk from the parking lot! Either way, your family will love the dramatic waves, natural blowholes, and photo-worthy scenery. The fall foliage adds even more color to the experience! Cave Point is a low-effort, high-impact stop for families exploring Door County's natural beauty before heading to the next stop (in our case, Ephraim!).

Putt the Cutest Course Around at Red Putter Mini Golf 

For some lighthearted fun on your first afternoon in Ephraim, stop by Red Putter Mini Golf. Based on our experience, it's one of the most fun things to do in Door County with kids. This classic 18-hole course has stood the test of time (recently, celebrating 50 years!) and offers plenty of challenging obstacles for players of all ages and skills. Each hole is unique and a little quirky.

Fall makes this activity especially magical! The mini golf course is surrounded by some of the most vibrant foliage we saw in Door County. After your game, kids can play at Bobby's Playground. Red Putter Mini Golf is just minutes from downtown Ephraim, so it's easy to squeeze in a round or two before dinner or settling in for the evening.

Climb Eagle Tower at Peninsula State Park

No trip to Door County in the fall would be complete without a visit to Peninsula State Park, one of the best state parks in Door County. And, the highlight of the park is the Eagle Tower. 

Perched high on Eagle Bluff, Eagle Tower offers endless views of the Bay of Green Bay, surrounding islands, and even the Upper Michigan shoreline. It's a perfect spot for families looking to soak in the autumnal beauty of Door County. This was hands-down, one of our FAVORITE stops during our recent fall getaway.

The tower itself is 60 feet tall, with the observation deck sitting 253 feet above the bay. Visitors can climb 100 steps to the top-or take the fully-accessible, winding canopy walk. This boardwalk gently winds above the treetops with benches along the way for resting little legs. We opted to take the boardwalk up and down (our daughter took the stairs down!). Open seasonally from May through October (weather permitting), Eagle Tower is ideal for soaking up beautiful fall weather and views.

Peninsula State Park has plenty more to offer families as well. Wide, stroller-friendly trails make short hikes easy. You can also explore beaches, the White Cedar Nature Center, and even the historic Eagle Bluff Lighthouse. With miles of shoreline, there are endless spots to stop, snap photos, and let the kids burn off some energy before heading back to the hotel. Even a half-day here gives a perfect taste of what makes fall in Door County with kids so magical.

Dinner at Prince of Pierogi Restaurant 

After a day full of adventure, head to Prince of Pierogi in Ephraim for a relaxed and delicious dinner. It's even a short, scenic walk from Ephraim Shores along the waterfront. While there's no indoor seating, the outdoor picnic tables make for a perfect spot to enjoy the food. Or, you can take it to go and enjoy dinner back at the hotel.

The menu is simple but fantastic! Choose from homemade pierogi, cabbage rolls, Hunter's stew, and even kielbasa hot dogs. The staff is incredibly friendly, making the experience feel warm and welcoming for families with kids of all ages. While there isn't a dedicated kids' menu, there's plenty for little ones to enjoy.

And don't skip dessert! Try a sweet pierogi. You can't go wrong with one filled with Door County cherries (they are seriously yummy!). It's a fun twist that's just as memorable as the savory dishes. Talk about the perfect ending to a day of fall fun in Door County with kids!

Day 2 in Door County with Kids this Fall: Sister Bay, Fish Creek, + Ephraim

On Day 2 of your fall trip to Door County with kids, you'll explore the charming villages of Sister Bay, Fish Creek, and Ephraim. Each community is packed with activities for kids and exciting stops that make Door County family vacations unforgettable. 

Try the Swedish Pancakes at Al Johnson's Swedish Restaurant

When it comes to things to do in Sister Bay with kids, Al Johnson's Swedish Restaurant is a must. Famous for the goats grazing on its sod roof, this spot is as much about the experience as it is about the food. Order a plate of their thin, buttery Swedish pancakes topped with lingonberries-a kid-approved favorite! This was one of my daughter's favorite meals during our most recent trip!

Be prepared for a wait during busy times, but that's part of the fun. While you wait, stroll through Sister Bay's waterfront park. Or, let the kids burn energy at the lakeside playground. You can also take a minute to peek into the small Swedish-inspired gift shop inside the restaurant. 

For your best chance at spotting the goats, stop by in the morning (between 8 am and Noon). It's quirky, iconic, and totally kid-friendly-one of those kid-friendly restaurants in Door County you'll be glad you didn't miss.

Meander the Waterfront + Peek into Local Shops (Sister Bay + Fish Creek)

We love a cute downtown when we travel! And, one of our favorite ways to spend a fall day in Door County is wandering the charming downtowns of Sister Bay and Fish Creek with kids. Wandering along the waterfront, popping into local shops, and soaking in the fall scenery is one of those simple joys that make Door County family vacations so memorable.

They're just a 20-minute drive apart, and the scenic route between them is absolutely gorgeous with all the fall colors. Both towns are filled with cute shops, galleries, and boutiques. Both towns are also very walkable, making them perfect for a little browsing. Or picking up a few local treasures! There are so many shops to choose from; pick the ones that speak to you.

That said, don't miss Door County Confectionery in Sister Bay! For more than 50 years, this sweet spot has been delighting chocolate lovers with fudge and mouthwatering chocolates made right in Door County. It's a treat for both kids and adults. And, in my opinion, a must-visit for anyone with a sweet tooth. 

Lunch at Wild Tomato Pizza in Fish Creek

No Door County family vacation is complete without a stop at Wild Tomato Pizza-it's hands down one of the most kid-friendly restaurants in Door County. It is also a spot we keep coming back to every trip. 

Their wood-fired pizzas are incredible, with plenty of unique topping combinations alongside classic favorites that even picky eaters will love. They also have a dedicated kids' menu. Honestly, who doesn't love pizza? 

The Fish Creek location has a fantastic outdoor patio for warm fall afternoons. We try to snag a patio table when we can! (They also have a location in Sister Bay, if you prefer to lunch there.)

Grab a Slice of Pie from Sweetie Pies 

No fall trip to Door County with kids is complete without a sweet stop for pie. I can wholeheartedly say that Sweetie Pies is the best! 

This little roadside gem might just be the most adorable spot on the peninsula-picture towering maples blazing with color, wide open green spaces for the kids to run around, and even a couple of cute shops nearby to poke into. Whether you swing by for a quick roadside treat or linger a while to enjoy the fall scenery, this stop is as charming as it is delicious.

You can pre-order a full pie (required at least a day in advance!). Or, pick up one of the freshly baked minis and slices they have on hand (this is what we usually do). We loved the mini pies-perfectly portioned, perfectly flaky, and completely homemade. The difference here is in the details. Every crust is hand-rolled. And, the pies are made with real fruit, no fillers, no preservatives, and no shortcuts. Their cherry pie is made with locally sourced fruit from Hyline Orchard. It is a Door County CLASSIC.

Take a Scenic Road Trip + Embrace Local Fall Vibes

One of the best ways to soak up fall in Door County with kids is by turning your afternoon into a mini road trip. The peninsula is dotted with orchards, farm markets, and galleries, each bursting with autumn charm. The best way is to go without a plan and see what calls to you.

If you need a plan, here are a few stops I recommend:

• Lautenbach's Orchard Country for cider and apples, along with some kid-friendly fall activities. They have a great playground area, too!
• The whimsical trails at Edgewood Orchard Galleries are a hit with kids! Along the route, you'll see several towering art installations, including some interactive areas. Then, head inside to see even more art and grab a few souvenirs.
• Wood Orchard Market is a seasonal market with apples, apple-flavored cakes and treats, fall-themed gifts, and more. They also have a fun playground outside.
• Door Artisan Cheese offers a phenomenal cheese counter and drinks for a quick snack!
• Ephraim Wetland Preserve Trail is an excellent stop for a quick hike with your kids. The boardwalk trail is stunning! It's a rustic hike, but it’s worth it to enjoy any lingering warm weather.

The drive itself is half the fun. Pack a few snacks (or grab a few seasonal treats along the way!), cue up a family playlist, and let the day unfold slowly. Take it from me, a Door County fall road trip is as much about the journey as the stops along the way.

Eat Locally with a Fish Boil Dinner at The Old Post Office Restaurant

If you're looking for fun things to do in Door County for families, a traditional fish boil is an absolute must. This unique dining experience, rooted in Scandinavian tradition, is as much about the show as it is the meal. There are several places in Door County to try a fish boil. I recommend The Old Post Office Restaurant in Ephraim. It's just a few steps away from the recommended hotel, and the meal is phenomenal!

Arrive a little early so you can watch the preparations and learn the history behind this unique Door County feast. Fresh-caught Lake Michigan whitefish, onions, and potatoes simmer in a giant outdoor kettle until the dramatic "boil over" sends flames shooting skyward. Kids will love the towering flames needed to boil the meal! Once dinner is served, servers even remove the fish bones for you, making it easy for kids (and parents!) to dig in. The meal is typically rounded out with coleslaw, bread, and a slice of Door County cherry pie-because no local dinner feels complete without it.

Don't like fish? They also offer a few alternatives like chicken tenders, ribs, or hot dogs, so there's something for everyone at the table. They have dedicated kids' options, too. Just don't forget to make a reservation. Fish boils are popular, and spots fill quickly.

Day 3 in Door County with Kids this Fall: Washington Island + Ellison Bay

Day 3 of your Door County fall road trip takes you farther north to explore Washington Island and Ellison Bay. This is the perfect day for families looking to enjoy scenic drives, charming small towns, and memorable fall adventures in Door County with kids. 

As you prepare for a day on Washington Island with your kids, keep in mind that nearly everything is outside. Dress warmly and have additional layers in your car if needed. Looking for fall layer options for the whole family? Take a look at this collection of items that we love.

Pro Tip: Bring cash to the island. Many stops have an encouraged cash donation or entrance fee, which helps keep facilities clean and open to visitors. Most places recommend $1-2/person.

READ NEXT: How to Plan the Perfect Fall Day to Washington Island, Wisconsin, with Kids

Take the First Ferry to Washington Island

During your fall getaway to Door County with kids, I highly recommend taking the ferry to Washington Island for a little day trip. We have done this twice, and it's always a highlight of our time in Door County.

Catching the first ferry of the day to Washington Island is the best way to make the most of your day. We arrived about 30-45 minutes before the 8 a.m. departure, and while it felt early, it paid off. We secured our spot and even had time for a little adventure. My husband stayed with the car while my daughter and I walked down to the nearby beach to watch the sunrise. It was such a fantastic way to start the day (and made the wait fly by!). The ferry fits about 18-22 cars depending on size.

The ferry ride itself is part of the fun, crossing the famous "Death's Door" passage on the way to this charming Wisconsin island. Kids love the excitement of driving the car right onto the ferry, and the views of Lake Michigan are gorgeous in the morning light.

To maximize your time exploring, I recommend taking that first ferry over and planning to return before dinner. We usually aim for the 3:00 pm or 4:00 pm ferry. The last ferry back in the fall typically leaves around 5 p.m. Just keep in mind that the schedule changes seasonally, so double-check times before you go. (The times above are accurate for September to mid-October.)

Grab Coffee on the Island at WIS-CO

After the ferry ride, your first stop is grabbing a coffee and breakfast at WIS-CO. It is only a couple of minutes from the marina. This cozy coffee shop is perfect for a pick-me-up before the busy day of exploring Washington Island ahead of you. The coffee at WIS-CO is strong, the vibes are welcoming, and they've got plenty of kid-approved treats to keep everyone happy. We loved the homey hand pies! It's a great way to ease into autumn life on the island. Slow down, sip your latte, and let the kids enjoy a snack while you map out the day ahead. 

Alternatively, Red Cup Coffee House is really close to the marina, too.

Visit School House Beach

No trip to Washington Island is complete without a stop at School House Beach. It is one of only five sandless beaches in the entire world. Instead of sand, the shoreline is covered in smooth, white limestone rocks that are just as fascinating to kids as they are to adults. It's truly a geological wonder and easily one of the best things to do in Door County with kids.

Families love to spread out for a picnic here. There are tables among the trees, and plenty of open spaces perfect for relaxing between adventures. Swimming is allowed in the marked area, but it's best for older kids or confident swimmers since the water gets deep quickly. Keep in mind, fall will be chilly, so maybe just dipping brave toes in the water is best. Or, do what we do, bring waterproof shoes! This way, toes stay warm, but kids can still get the joy of stepping into the waves a bit.

This is one of the best places on the island for family photos. The treeline is bursting with color. That, plus the deep blue water and white rocks, makes this stop truly remarkable. Just remember: the stones are protected, so while little ones will love picking them up and examining them, you must leave them behind. School House Beach is undoubtedly a must-stop on your fall road trip in Door County with kids. This beach alone is worth the ferry!

Enjoy the Fall Views + Path at Washington Island Stavkirke

Tucked into a quiet (and colorful!) grove of trees, the Washington Island Stavkirke feels like stepping straight into a storybook. Modeled after the Borgund Stavkirke in Norway (built in 1150!), this wooden church is a work of art. Its soaring masts, hand-laid shingles, and Viking ship-inspired design are incredible to see up close, but what makes the visit extra special is the setting.

A winding prayer path leads you through the woods to the Stavkirke, making the approach almost as memorable as the church itself (especially during the fall!). Fall brings golden leaves that frame the dark timber beautifully. Families will appreciate the calm, quiet vibe here, and kids usually love the short forest walk.

Whether you linger for photos, sit for a moment of reflection, or simply admire the craftsmanship, the Stavkirke is a Washington Island gem. The church may even be open for a peek inside. Fall in Door County makes this an extra special stop with kids.

Learn Something New at the Washington Island Farm Museum 

Even though the Washington Island Farm Museum is quieter in the fall than during the peak summer season, it's still a stop worth making on your fall trip to Door County with kids. Spread across 20 acres, this collection of historic farm buildings was moved here from different parts of the island and reassembled to tell the story of pioneer farm life.

You'll find old farm tools, kitchen items, and equipment from the late 1800s to the early 1900s. While there aren't as many live demonstrations this time of year, each building has written guides that make it easy for families to explore at their own pace. Kids will love peeking into the barns and spotting the farm animals in their pen, while parents can appreciate the glimpse into Wisconsin's rural history. Bring a couple of quarters so you can feed the goats!

It's an easy, educational stop that balances out the outdoor adventures of Washington Island and helps kids connect to the area's past. Check the Washington Island Farm Museum Facebook page for updated hours and possible events during your visit.

Soup + Bread Bowls for Lunch at Jackson Harbor Soup 

When it comes to kid-friendly restaurants in Door County, Jackson Harbor Soup is an absolute GEM. Tucked right along the water on Washington Island, this cozy spot serves up some of the best comfort food you'll find anywhere in Wisconsin. I dream about their chili year-round-it's that good! This is another stop worth the ferry trek alone.

Order your favorite soup in a warm bread bowl (a must in my opinion!). Or, choose from their homemade sandwiches (if you're not a soup person). Don't forget to save room for pie. On a crisp fall day, grab a seat outside at one of the picnic tables to enjoy the harbor views.

Let kids play cornhole or explore the little play area. Feel free to linger if the weather is nice; it's just a beautiful spot! This is truly the perfect lunch stop on Washington Island.

Enjoy the Sand + Views at Sand Dunes Park

If your kids need to burn off some energy, Sand Dunes Park is the perfect stop before getting back on the ferry. This wide, sandy beach is framed by tall dunes and offers stunning views across Lake Michigan. You may even see Detroit Island on a clear day. It's a great spot to spread out a blanket and just hang out for a bit.

The parking lot is close to the beach, so you won't have to haul your gear far (though the trail is steep and sandy-I wouldn't recommend a stroller or wagon here), and the open shoreline gives kids plenty of space to run, dig, and explore. 

Take the Ferry Back to the Mainland

As the afternoon winds down, it's time to head back on the ferry to the mainland. The ride itself is a beautiful way to end your Washington Island adventure, with wide-open lake views and fresh fall air. 

If you want to stay a bit longer or make some swaps, consider one of these ideas:

• Stop for ice cream at Albatross Drive-In (easy to do on the way back to the ferry).
• Fragrant Isle Lavender Farm isn't in bloom, but the farm store is usually still open in the fall.
• Island Rides Bicycle Rentals offers a fun way to see the island if you want to explore on wheels!

Pop by Island Orchard Cider for a Cider Flight

After a day on Washington Island, your next stop on this Door County fall road trip is Island Orchard Cider in Ellison Bay. This family-friendly cidery and taproom handcrafts award-winning, gluten-free hard ciders from apples and pears grown right on Washington Island. It's an easy stop on your way back to your hotel from Washington Island.

In the fall, you'll love sipping a cider flight on their patio or cozying up indoors. They often have fire pits on the patio to keep everyone warm, too! Kids can join the fun, too-Island Orchard serves non-alcoholic sweet cider from neighboring Seaquist Orchards or other options. Light picnic-style snacks are available, making it the perfect spot to relax before heading home with a bottle or two.

Afterward, head to dinner in Ellison Bay. There are a few options to choose from (though the restaurant we went to has since closed). Try one of these nearby restaurants:

• Blue Bear Ellison Bay
• Osteria Tre Tassi
• Della Porta

Day 4 in Door County with Kids this Fall: Baileys Harbor

On your final fall day in Door County with kids, it's time to explore Baileys Harbor. This charming stop wraps up your Door County family vacation with even more scenic views and family-friendly activities. It even includes one of my favorite places in Door County-Ridges Sanctuary!

Start your Day with Coffee at Sip in Ephraim

Before your final adventures in Door County, fuel up at Sip in Ephraim. This colorful, welcoming spot offers food that is just as vibrant as the vibe. Whether you're grabbing a quick coffee and pastry from their counter or settling in for a hearty breakfast, Sip makes starting the day easy. 

Their in-house bakery keeps things fresh with rotating rolls, scones, croissants, and breakfast breads. If you're like us and prefer a light breakfast, it's the perfect spot for a grab-and-go option. Want to linger a little? Enjoy your latte or brunch in their cozy space. You can even browse the home décor and retail finds upstairs! 

READ NEXT: My Guide to the Best Restaurants in Door County with Kids

Explore the Trails + Lighthouses at The Ridges Sanctuary

One of our favorite stops in Door County with kids, The Ridges Sanctuary, is absolutely stunning in the fall. During our last visit, we even spotted a praying mantis and dozens of ladybugs along the trails! 

Start inside to learn about the sanctuary's unique ecosystems. The indoor exhibits are small, but mighty. And, there is a little area for kids to draw and create from nature-based prompts. Then head outdoors to explore the hiking trails. Kids hike for free, and trails are open from dawn until dusk, making it easy to fit in a nature-filled adventure.

The Ridges Sanctuary protects one of the Midwest's most biologically diverse areas. Five miles of trails wind through acres of boreal forest, giving you access to rare plants, birds, and two historic Baileys Harbor Range Lights (built to keep ships safe off-shore reefs). Take a family stroll along the (fully accessible) boardwalk trails. We loved taking different trails to see the area's unique plantlife and fall foliage. This is how we saw the praying mantis on our last visit! You can even cross the road to explore a nearby beach for a bit (which I recommend, if you have time). Afterward, head into the gift shop for a few souvenirs before you leave. We picked up a fantastic cookbook here!

Lunch at Roost+Banter

After exploring The Ridges Sanctuary, head to Roost+Banter for a relaxed and delicious lunch. Lunch features a fantastic selection of sandwiches, soups, and salads, perfect for refueling hungry little ones before your drive home. We loved the Mortadella sandwich! Grab a seat on the porch for gorgeous fall water views. This is the perfect spot for a laid-back meal to wrap up your Door County adventure.

Pro Tip: If Sip was too busy in the morning, you can easily grab coffee and breakfast here instead-it's just a short drive away from The Ridges Sanctuary. The café serves classic espresso drinks with seasonal twists. All food and baked goods are made in-house.

If You Have Time: Climb Cana Island Lighthouse

If your schedule allows-or if you'd rather swap this for The Ridges Sanctuary-Cana Island Lighthouse is a must-see on any Door County fall road trip. Admittedly, we haven't stopped here yet. We always manage to run out of time. But I am dreaming of stopping here next time! 

Built in 1869, this iconic lighthouse has stood watch over Lake Michigan for more than 150 years. Take a haywagon ride over the causeway to the island, where you can explore the 89-foot tower, the original lighthouse keeper's home, and the historic oil house. The highlight? Climbing the (nearly) 100 steps to the gallery deck. From the top, you'll be rewarded with sweeping views of Lake Michigan and the peninsula. 

More Ideas for Fall Things to Do in Door County with Kids

If you're looking for even more inspiration for an extended stay or to make swaps to this itinerary, here are some additional fun things to do in Door County for families. I hope they help you make the most of your fall trip to Door County with kids!

• Whitefish Dunes State Park, Sturgeon Bay
• Newport State Park, Ellison Bay
• Salty Seagull Mini Golf, Sturgeon Bay
• Evergreen Miniature Golf, Fish Creek
• Pirate’s Cove Adventure Golf, Sister Bay (we did this one on our first trip!)

Explore Door County this Fall with Your Kids!

Fall in Door County with kids is truly magical, and this 4-day itinerary is just a glimpse of the adventures waiting on the peninsula. From scenic hikes and historic lighthouses to charming towns and cozy meals, every stop is designed to make your Door County family vacation unforgettable. Pack your sense of adventure and hit the road! I genuinely think this is the perfect Door County fall road trip for making memories that will last a lifetime (I know, because we've already taken it!).

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