The Ultimate Guide to Visiting Sioux Falls with Kids

If you’re planning a family getaway packed with waterfalls, wildlife, ice cream stops, and plenty of playtime, Sioux Falls, South Dakota, might just surprise you. We spent three full days exploring and relaxing here with our two young boys — and left wishing we’d stayed longer. Between the famous Falls Park, one of our favorite zoos yet, and the comfort of our KOA campsite, Sioux Falls offers the perfect mix of adventure and downtime for families.

Why Stay at a KOA When Traveling with Kids

We usually prefer more remote, off-grid camping, but staying at the Sioux Falls KOA was the right choice for this trip. When you’re traveling with little ones, the ease and comfort of a KOA really shines.

Our site had a swimming pool, playground, laundry, showers, and a camp store — all within walking distance. It meant that while we explored during the day, we always had an easy way to unwind afterward. The boys loved splashing in the pool while we prepped dinner in the camper.

The Three Types of KOA Campgrounds

If you’re new to KOA, there are three styles worth knowing about:

• KOA Journey – Great for quick overnight stops along your route. Simple, reliable amenities.

• KOA Holiday – Designed for longer stays with upgraded sites, family-friendly pools, and deluxe cabins.

• KOA Resort – The option with the most amenities, often with restaurants, organized activities, and resort-style recreation.

The Sioux Falls KOA fit right in between a Journey and a Holiday — close enough to downtown, yet still offering a campground feel.

(Check out my previous post on How to Get Started Camping with a Camper!) 

Day 1: Setting Up Camp and Poolside Relaxing

After arriving and setting up the camper, our first stop was the KOA pool. It was the perfect way for the boys to cool off after a day in the car while we got organized for the weekend.

We made tacos for dinner in our camper (with plenty of “help” from the kids). Cooking together on the road has become one of our favorite parts of family travel — it’s cheaper than eating out, keeps everyone involved, and somehow makes even simple meals feel special. I brought homemade tortillas (that I premade before the trip), ground beef (but you could do canned chicken), beans, corn, cheese, and avocados.

(Check out my Affordable Family Meals You Can Make on Vacation blog post for easy meal ideas!)

Family tip: Bring your kids’ favorite kitchen tools such as: a kids’ safe knife set, a collapsible colander, or their own kid-sized apron.

Day 2: Waterfalls, Wild Animals & Shopping Surprises!

Start with the Famous Falls Park

We headed straight to Falls Park early in the morning. The timing couldn’t have been better — the sunrise lit up the water beautifully, the temperature was cool, and we practically had the park to ourselves.

There are paved paths perfect for strollers, a scenic overlook, and wide-open green space for kids to run. It’s an easy first stop to kick off your Sioux Falls itinerary.

Travel tip: Visit early for photos and fewer crowds. Bring coffee and breakfast to enjoy by the falls for a relaxing morning picnic!

Next Stop: Great Plains Zoo

The Great Plains Zoo turned out to be one of our favorite zoo experiences yet. The boys loved spotting bears, painted dogs, and meerkats— but the real surprise was the splash pad inside the zoo! If your kids love water play, come prepared with swimsuits, water shoes, and towels.

The zoo also has shaded playgrounds sprinkled throughout, making it easy to break up the walking with playtime.

Parent takeaway: This could easily fill an entire day if you bring lunch and plan ahead.

Afternoon Fun: Scheels and Dinner in the Camper

After the zoo, we stopped at Scheels, which has a Ferris wheel inside (yes, indoors!) and a candy store that made our kids’ eyes light up. They had some much fun browsing all of the different candies and picking a special treat.

By the time we returned to camp, everyone was ready for a simple dinner — cheeseburgers, baked beans, and watermelon! It’s amazing how a simple meal can taste brand-new when it’s eaten in the camper or outside under the trees.

Day 3: Old West Towns, Indoor Play, and Ice Cream!

Morning at 1880 Cowboy Town

We started the day exploring 1880 Cowboy Town — a quirky, old-west replica village that feels both fun and a little spooky. It was perfect for a short morning stroll and some imaginative story-telling, but it definitely has an “abandoned ghost town” vibe, so prep your little ones ahead of time if they’re easily spooked.

We Rock the Spectrum Kids Gym

Next up was We Rock the Spectrum, an indoor play gym packed with sensory-friendly equipment, obstacle courses, and swings.

The boys could climb, jump, and burn off energy for hours. This stop was a hit — and a great way to balance outdoor exploring with an indoor adventure.

Pro tip: Bring grippy socks and a water bottle — and plan to stay longer than you think.

Sweet Treat Stop: Stensland Family Farms Ice Cream

After all that play, we rewarded ourselves with a stop at Stensland Family Farms Ice Cream. With so many flavors, it took the boys forever to choose (and honestly, we couldn’t blame them). It’s the perfect local spot to cool off before heading to your next adventure.

Pro tip: Bring wet wipes for a quick and easy clean up, since kids are bound to get sticky! 

End the Trip at Sertoma Park

Before heading back to camp, we stopped at Sertoma Park, a huge playground with six different play zones for various ages and abilities. It’s free, well-maintained, and gives parents a chance to relax while kids climb and explore.

We love seeking out local playgrounds when we travel — they’re free, fun, and a great way to meet other families.

Other Things to Do in Sioux Falls with Kids

If you’re staying longer or want to mix up your itinerary, here are a few other great options:

• Butterfly House & Aquarium – A calm, educational spot perfect for rainy days.

• Thunder Road Sioux Falls – Go-karts, mini-golf, and laser tag for older kids.

• Sky Zone Trampoline Park – Perfect for burning off energy indoors.

• The Sensory Studio – A creative play space with sand, sensory toys, and themed rooms for younger children.

• Downtown Sioux Falls Sculpture Walk – Outdoor art walk that doubles as a family-friendly stroll.

What to Pack for a Sioux Falls Family Adventure

Here’s what made our Sioux Falls with kids trip easier — and what we wish we’d had:

For the Kids

• Swimsuits and quick-dry towels (zoo splash pad + KOA pool)

• Sturdy sandals or sneakers for walking and impromptu water play

• Refillable water bottles

• Road-trip toys: travel games in a mesh organizer, coloring books, tablets with downloaded shows and PBS Kids games

• Small backpack for snacks, water, and treasures they find along the way

For the Campground

• Bug spray and sunscreen

• Camp chairs and a picnic blanket

• Simple meal staples (taco kits, pasta, pancake mix)

• Travel laundry bag

• Headlamps or string lights for evening setup or ambiance

(For a full list of family camping gear, check out this blog post here!)

Sioux Falls Is a Hidden Family Gem

Between the waterfalls, zoo adventures, indoor play spaces, and ice cream stops, Sioux Falls offers a surprising amount of fun packed into one city. Staying at a KOA gave us a comfortable base to explore, rest, and recharge between outings — and the boys still talk about swimming, the Ferris wheel, and that unforgettable splash pad inside the zoo.

If you’re looking for a Midwest destination that’s easy to navigate, full of family-friendly options for adventure, and won’t break the budget, Sioux Falls with kids should definitely be on your list.

Until the Next Adventure,

Jess