Wonderful landscaping. Outdoor gardens are free to visit. There's a greenhouse with lots of tropical plants that has cost to entry.
Olbrich Botanical Gardens
Has lots of paved paths as well as unpaved through the local prairie. Accessible to most mobility levels.
Governor Nelson State Park
Has lots of unpaved trails and beach access. I've seen lots of different wildlife at this park.
Lake Kegonsa State Park
The best time to visit this park is in spring once the snow has started to thaw. The waterfalls are really active then.
Starved Rock State Park
This is a more challenging hike than other recommendations on this list. Lots of altitude - but with that comes gorgeous views.
Devil's Lake State Park
This park is very untouched by the outside world - almost primordial. The hike is a bit long but isn't too challenging regarding altitude.
Parfrey's Glen
Lake Mendota is a little smaller and more accessible than the other lake in the area.
Lake Mendota
This is the main lake Madison is built around. Beautiful for light boating activities like kayaking or paddleboarding.
Lake Monona - Wisconsin Lakes
This beach is well maintained and friendly to families. Just need to make sure the water quality is good the day you visit.
South Beach
This beach is open for long hours and easy to walk to.
WASHINGTON PARK
The dunes always have excellent waves. Plus there's a welcome center with bathrooms and showers just off the beach.
Indiana Dunes National Park
Gorgeous, sprawling garden. Has tram rides around the property for those with mobility issues or who want to visit specific areas easily.
Chicago Botanic Garden
There are many different points of access to the ice age trail - where the glaciers melted in WI. Use this site to find the location you want to visit.
Ice Age Trail Alliance
Lovely park that is well maintained and easily accessible.
Palmisano Park
Lovely, mostly paved trails. Folks see lots of wildlife here.
