Family-friendly vacation rentals in Waukesha County

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Top-rated family-friendly rentals in Waukesha County

Guests agree: these family-friendly homes are highly rated for location, cleanliness, and more.

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Guest favorite

Cottage in Richfield

4.95 out of 5 average rating, 248 reviews

Peaceful weekend or extended stay, full amenities

The Country Retreat at the historic Schmitz Family Farm is close to many attractions, ideal for couples, families, girls' weekends, extended stays, business travel, and is dog friendly. Enjoy a sunrise or sunset, get cozy at the fireplace, or indulge in the many activities our area has to offer. We feature two beautiful bedrooms, living room with two sleeper sofas (can also be used as a third bedroom, as door closes for privacy), laundry room, full kitchen, coffee nook, quiet deck and backyard.

Guest favorite

Cabin in Elkhorn

4.97 out of 5 average rating, 285 reviews

The Retreat: 5 Acre Log Cabin

Escape to this beautiful 5-acre country retreat, located a short drive from Lauderdale Lakes, Alpine Valley, and Lake Geneva. The cabin features two kitchens, two family rooms, a year around hot tub, a game room, an arcade, and five bedrooms with comfortable king-sized beds. The master suite also includes a steam room for added luxury. Spend your days enjoying the great outdoors with a game of beach volleyball or roasting marshmallows around a bonfire, while taking in the fresh midwestern air.

Guest favorite

Rental unit in Lake Geneva

4.98 out of 5 average rating, 890 reviews

Geneva Street Inn in Maple Park Historic District

Geneva Street Inn is located one block away from the heart of Lake Geneva. This beautiful 1890's home is appealing to everybody whether your stay is a business trip, family, or even a couples getaway. A huge backyard and a front porch that will make you never want to leave. We strive to make your stay your "home away from home" with unique decor and it's timeless charm! Our price is inclusive cleaning fees (unless extenuating circumstances warrants a fee). We meet our guests at check-in.

Guest favorite

Townhouse in Milwaukee

4.95 out of 5 average rating, 388 reviews

Vintage Bay View - Big Backyard, Big 1 Bedroom

Welcome to your Milwaukee getaway! Located in the Bay View area, you're walking distance from the best farm-to-table restaurants, music venues, art fairs, and craft beer in the city. Not only that, but Lake Michigan's beaches, Miller Park, and downtown are a short drive away. The location is ideal. The place was created with a 70's midwestern feel, with wood-paneled furniture pieces and mod design. It also boasts a giant kitchen and backyard with grill. We can't wait for you to visit!

Guest favorite

Guest suite in Sussex

4.96 out of 5 average rating, 277 reviews

The Loft @ The Butler Place. 1846 homestead.

The Loft at the Butler Place is a beautiful, quiet retreat set in the rural suburb of Sussex, just 30 minutes west of Milwaukee. The home is the 1846 homestead of the William Butler family, making the home older than the State of Wisconsin! The 2019 remodel of the Loft is in sophisticated farmhouse style and pays tribute to the history of the home in its furnishings, up cycled pieces, and beautiful setting. "Broken becomes blessed" both tells and compells as an invitation to all.

Guest favorite

Guest suite in Sussex

4.99 out of 5 average rating, 136 reviews

Garden Retreat in law Suite

Welcome to our in-law suite apartment featuring a full eat-in kitchen, living room, queen bed in large bedroom, walk in closet and full bathroom with walk-in shower. Our beautiful two acre yard has many areas to relax in, including a hammock and fire pit for the evenings. Twenty mins. to Erin Hills and Holy Hill and a half hour to most downtown Milwaukee attractions, as well as the RNC activities taking place this summer. Lots of city tips and suggestions for our guests.

Guest favorite

Rental unit in West Allis

4.91 out of 5 average rating, 299 reviews

The Cheese House

Large well appointed two bedroom, living room, dining room, kitchen, and private balcony. Apartment is located on the second floor right above the award winning West Allis Cheese & Sausage Shoppe. Each stay includes 4 breakfast sandwiches and house coffee vouchers for the cheese store cafe. The rental is centrally located minutes from Pettit National Ice Center, Milwaukee County Zoo, Wisconsin State Fair, and Brewers Stadium not to mention local restaurants.

Guest favorite

Rental unit in Racine

4.92 out of 5 average rating, 269 reviews

WAVES : Steps to the Harbor ~ Crash Here!

Welcome to "Waves Apartment," your ideal retreat by the harbor. This cozy apartment offers three queen-sized beds, two baths, and conveniences like onsite parking and a private deck. Enjoy the comfort of three bedrooms, two baths alongside an open living/dining area with scenic lake and harbor views. The fully equipped kitchen and laundry facilities ensure a hassle-free stay. Experience a blend of comfort and convenience, designed for your enjoyment.

Guest favorite

Cabin in Kenosha

4.81 out of 5 average rating, 607 reviews

Lake Michigan Writer’s Cabin

Beautiful Lake Michigan retreat perfect for relaxing, boating, fishing, swimming and more! Fully remodeled. Perfect for ice fishing in the winter. A Sportsman’s paradise. Ideal for the adventurous. Relax, do some writing or work overlooking the breathtaking scenery. A stone's throw to the beach. Two decks overlooking the tranquil landscape. A short walk to downtown shops, cafes and restaurants.

Guest favorite

Guest suite in Helenville

4.94 out of 5 average rating, 356 reviews

Chic Loft Surrounded by Nature

This charming shabby chic loft sits in the heart of the country between Madison and Milwaukee. The Lighthouse Farm is also a wedding/event venue (please inquire for more details) . A quiet relaxing environment, with lots of open space, natural sunlight and lush green landscape. Great for those looking to get away with easy access to metropolitan areas, lakes, rivers and hiking/biking trails.

Guest favorite

Home in Kenosha

4.93 out of 5 average rating, 169 reviews

Modern! Pro Cleaned, Self Check In - Sleeps 10

Enjoy your time together in this modern three bedroom one and a half bath ranch. The newly updated interior will make you feel like you have arrived. Stately hardwood floors accent the new decor. Kitchen is stocked for your inner gourmet cook. You will love all the stainless steel appliances. With our all new queen double plush beds, you will enjoy the ultimate sleep experience.

Guest favorite

Rental unit in Fort Atkinson

4.95 out of 5 average rating, 240 reviews

‘The Part Time Local’ - A boho small town retreat.

A cozy, comfortable 1 bedroom apartment with eat in kitchen and separate living room. Newly remodeled bathroom with tiled shower. Mahogany floors and all the charm you'd expect in a 1907 Arts & Crafts. Stylish, boho décor to make anyone feel right at home. Private balcony with Rock River views. Laundry available. Downtown Fort Atkinson, walking distance to everything!