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Princeton with Kids: The Best Family-Friendly Activities, Dining, and a Weekend Plan

Key Takeaways

  • Palmer Square is Princeton’s most walkable family destination, with dining, shopping, green space, and entertainment all within a few blocks.
  • The newly reopened Princeton University Art Museum offers free admission and Creativity Labs with hands-on art-making activities for families.
  • Terhune Orchards provides seasonal farm experiences ranging from strawberry picking in June to apple and pumpkin picking in the fall.
  • Nassau Inn welcomes families with children of all ages and places visitors within walking distance of many of the best family-friendly activities in Princeton NJ.
  • The Yankee Doodle Tap Room offers a Kids Eat Free promotion on Tuesdays with the purchase of an adult entrée (check availability before visiting).

Every parent knows the challenge: finding a destination where the kids are excited, the adults are interested, and nobody spends half the day sitting in the car. Princeton happens to solve that problem unusually well. Between the toy stores, open green spaces, free museums, family-friendly restaurants, and walkable streets, it’s the kind of place where everyone finds something to look forward to. Here’s our list of the best ways to explore Princeton, NJ with kids.

Best Things to Do in Princeton with Kids

Here are the activities that consistently make the list when planning a visit to Princeton NJ with kids:

  • Explore Palmer Square — The walkable heart of Princeton where toy stores, restaurants, green space, and family events naturally come together.
  • Visit jaZams — One of New Jersey’s most beloved toy stores and a destination children ask to revisit.
  • Walk Princeton University’s Campus — Historic architecture, open courtyards, and landmarks that spark curiosity even among younger visitors.
  • Explore the Princeton University Art Museum — Free admission, hands-on Creativity Labs, and enough variety to engage children and adults alike.
  • Visit Terhune Orchards — Seasonal fruit picking, farm animals, hayrides, festivals, and one of the region’s favorite family farm experiences.
  • Enjoy Princeton’s Indoor Attractions — Ideal rainy-day options including Princeton Playspace, McCarter Theatre, and the Art Museum.

Start at Palmer Square: jaZams, the Green, and the Walkable Heart of Princeton

The Square functions as Princeton’s gathering place, bringing together restaurants, specialty shops, open green space, and year-round events in a setting that feels welcoming rather than overwhelming. Parents appreciate the convenience. Kids appreciate that there’s always something interesting around the next corner.

Here’s where to go:

  • jaZams (25 Palmer Square East) A locally owned and operated specialty toy and book store recognized by NJ Monthly as ‘Best Toy Store in New Jersey.’ Carries over 10,000 items from board books and baby toys through educational games, puzzles, art kits, and desk toys for adults. The staff provides highly personal shopping help. This is the Palmer Square stop that kids reliably request to return to. Visit the jaZams website.
  • The Green at Palmer Square — The open-air center of the Square hosts Movies on the Green in summer, seasonal family events, and year-round foot traffic that makes it a welcoming gathering space for families. Check the events calendar for current programming.
  • Princeton Soup & Sandwich Company (30 Palmer Square East) — A family-owned Palmer Square staple since 2005 with a dedicated kids’ menu featuring hot dogs, chicken tenders, grilled cheese, and pizza bagels. Parents love the rotating homemade soups, specialty sandwiches, and fresh-squeezed lemonade. A reliable, relaxed lunch stop right in the Square before heading to the University campus. Visit the Princeton Soup & Sandwich Company website. 

Taken together, jaZams, the Green, and Princeton Soup & Sandwich Company create the perfect introduction to Princeton for families. Everything is close together, nobody feels rushed, and the day starts with momentum.

Walk the Princeton University Campus: History Kids Can Actually See

Some history lessons work better outdoors. Princeton University’s campus offers families the chance to experience history through architecture, scale, and storytelling rather than textbooks. The campus sits roughly a 15-minute walk from Palmer Square, making it an easy next stop after exploring downtown. 

Be sure to visit these places:

  • Nassau Hall is the oldest building on campus (1756) and one of the most recognizable landmarks in New Jersey. Kids can walk around it and hear a brief story about its role in the American Revolution. Visit the Nassau Hall website.
  • The Princeton University Art Museum (Museum Drive, on campus) recently reopened following a major renovation doubling its size to 146,000 sq. ft. The museum includes Creativity Labs with drop-in hands-on art-making for families, and the open gallery design encourages wandering. Tip for families: bring sketchbooks and visit on a weekday morning for lighter crowds. Visit the art museum website.
  • The Costen Children’s Library inside Princeton University’s Firestone Library features an indoor treehouse and puppet theater — worth a quick stop for families with young children. Visit the Costen Children’s Library website.

Terhune Orchards: The Farm Outing That Anchors a Princeton Weekend

Every great family weekend benefits from a change of scenery. After spending time exploring downtown Princeton, Terhune Orchards provides exactly that, a chance to trade brick walkways and bookstores for open fields, fruit orchards, farm animals, and plenty of room to roam.

Located less than five miles from Palmer Square, the 250-acre working farm has become a tradition for generations of local families and visitors alike. What makes Terhune especially appealing is that no two visits feel exactly the same. The experience changes with the seasons, giving families a reason to return throughout the year. Below are seasonal activities. Check their official website for details as information may have changed, 

  • June: Strawberry pick-your-own + Tuesday Read-and-Pick events (staff read a book about a fruit, then families pick it)
  • July: Blueberry Bash
  • August: Peach Festival
  • September–October: Apple picking, corn maze, hay bale maze, hayrides, and fall weekend festivals
  • October: Pumpkin picking
  • Year-round: Farm store with apple cider donuts, fresh produce, and homemade baked goods; barnyard animals including sheep, goats, and donkeys; pedal tractors; Kids’ Garden

For families planning a Princeton weekend trip, Terhune Orchards provides the perfect outdoor complement to the walkable downtown experience.

Address: 330 Cold Soil Road, Princeton, NJ 08540
Apple Orchard: 13 Van Kirk Road, Princeton, NJ 08540

Rainy Day Options: Things to Do With Kids Indoors in Princeton

Not every family trip arrives with perfect weather. Fortunately, Princeton offers enough indoor attractions to keep children entertained even when the forecast doesn’t cooperate.

  • Princeton Playspace — A 5,000 sq. ft. indoor playground with jungle gym, train table, construction zone, and pretend town. Good for ages 2–8. (Confirm current hours on their website before publishing.) Visit Princeton Playspace online.
  • jaZams — Can occupy younger kids for an hour with hands-on browsing of puzzles, art kits, and books (we already highlighted jaZams, but worth another mention for indoor specific). Visit jaZams online.
  • Princeton University Art Museum — Fully climate-controlled, free, and large enough to hold families’ attention without rushing. Visit Princeton University Art Museum online.
  • McCarter Theatre — Check the schedule at mccarter.org for First Stage family performances and family-friendly productions; one of the top performing arts venues in Central NJ. Visit McCarter Theater online.

Where to Eat in Princeton with Kids: Family-Friendly Restaurants Worth Knowing

One of the biggest challenges of family travel isn’t finding something to do, it’s deciding where everyone will actually enjoy eating.

Fortunately, Princeton’s dining scene understands families. Several local restaurants have built loyal followings by creating environments where children feel welcome and parents feel like they’re still enjoying a quality meal.

If you’re researching kid-friendly restaurants in Princeton, these are the places most consistently recommended by local families and returning visitors.

Yankee Doodle Tap Room at Nassau Inn

Parents often assume historic restaurants won’t be particularly accommodating to children.

The Yankee Doodle Tap Room proves otherwise. Located inside Nassau Inn at 10 Palmer Square East, the restaurant combines one of Princeton’s most historic dining rooms with an atmosphere that feels surprisingly approachable for families. The famous 13-foot Norman Rockwell mural gives children something interesting to look at while adults appreciate the historic setting, craft beer selection, and comfortable service.

Here are some of the Tap Room’s highlights:

  • Kids eat FREE on Tuesdays with the purchase of an adult entrée (Limited time promotion, check with YDTR for availability)
  • American gastropub menu — accessible food families will recognize alongside craft options for adults
  • Recognized by Historic Hotels of America as one of the Top 25 Most Historic Bars, Taverns, and Speakeasies (2025)
  • Patio offers a front-row view of bustling Palmer Square West—a lively street lined with charming shops and vibrant energy
  • Located inside Nassau Inn, 10 Palmer Square East — steps from jaZams and the Square

Visit the Yankee Doodle Tap Room online.

Winberie’s Restaurant & Bar

If Princeton has a classic family restaurant, Winberie’s is probably it. Part of the Palmer Square community since 1984, the restaurant has earned a reputation for being welcoming, reliable, and remarkably easy for families to enjoy.

Here’s what parents love about Winberie’s:

  • Dedicated children’s menu: every kids’ meal comes with french fries, vegetables or fresh fruit; options range from pizza and chicken bites to grilled salmon and grilled chicken
  • Crayons and a coloring page at the table — a small detail that matters a lot for families with young kids
  • Recognized by BestofNJ.com as one of the best kid-friendly restaurants in the state

Visit Winberie’s online.

PJ’s Pancake House

A Princeton favorite for generations, PJ’s Pancake House is an easy, family-friendly stop for breakfast, lunch, or a sweet treat during a weekend in town.

Parents love PJ’s for kids because:

  • The menu has something for everyone, from pancakes and breakfast classics to burgers, milkshakes, and comfort food.
  • Kids can stick with familiar favorites while parents still have plenty of options.
  • The atmosphere is casual and relaxed, so families feel comfortable stopping in as they are.
  • Outdoor bistro seating is available in warmer months, making it a great choice for spring and summer visits.
  • It’s right on Nassau Street, making it easy to pair with a walk around downtown Princeton.

Visit PJs Pancake House online.

A Family Weekend in Princeton: A Ready-to-Use Itinerary

One of the reasons families enjoy Princeton is that very little of the weekend requires complicated planning. Many of the town’s most popular attractions are located within walking distance of one another, allowing families to spend less time coordinating logistics and more time enjoying the experience.

If you’re looking for practical Princeton weekend trip ideas for families, here’s a simple two-day itinerary that combines many of the best family-friendly activities in Princeton NJ into a relaxed and manageable weekend.

Day 1: Palmer Square, the Campus, and Dinner in the Square

Morning

Arrive in Princeton and check into Nassau Inn, located directly on Palmer Square. Before diving into the day’s activities, spend some time exploring the Square and make jaZams your first stop. Giving children 30 to 45 minutes to browse toys, books, games, puzzles, and art supplies helps set an enthusiastic tone for the rest of the day while allowing parents to enjoy one of Princeton’s most beloved local businesses.

Late Morning

From Palmer Square, walk to Princeton University’s campus. The route is easy to navigate and takes approximately 15 minutes on foot. Spend time exploring Nassau Hall, wandering through the courtyards, and taking in the architecture that has made Princeton one of the country’s most recognizable college campuses. Families with younger readers should consider adding a stop at the Cotsen Children’s Library inside Firestone Library, where the indoor treehouse and puppet theater provide a fun surprise.

Afternoon

Continue to the Princeton University Art Museum and plan for approximately 60 to 90 minutes. Admission is free, which makes it easy to explore without feeling pressured to maximize every minute. Children ages six and older often enjoy the Creativity Labs, while younger children may prefer a shorter visit focused on the museum’s most visually engaging galleries.

Late Afternoon

Head back toward Palmer Square and slow the pace. Stop at The Bent Spoon for ice cream and spend some time browsing the Square’s shops or relaxing on the Green. This is often the point in the day when families appreciate having a little flexibility before dinner.

Dinner

Choose between the Yankee Doodle Tap Room at Nassau Inn or Winberie’s Restaurant & Bar. Both are located within steps of one another and both understand family dining exceptionally well. Parents can enjoy a relaxed meal while children remain comfortable and engaged, making either restaurant an easy way to end the day.

Day 2: Terhune Orchards and a Relaxed Departure

Morning

Begin the day with breakfast at PJ’s Pancake House on Nassau Street. A Princeton institution, PJ’s serves the kind of hearty breakfast that fuels a morning of exploration. Weekends tend to be busy, so arriving early is a good idea, though the line generally moves quickly.

Mid-Morning to Early Afternoon

After breakfast, drive approximately ten minutes to Terhune Orchards and plan to spend two to three hours there. The exact experience depends on the season. Summer visitors may find themselves picking strawberries or blueberries, while fall visitors can enjoy apple picking, hayrides, pumpkin patches, and seasonal festivals. Throughout the year, the farm store, barnyard animals, pedal tractors, and Kids’ Garden provide plenty of entertainment for younger visitors.

One local recommendation is to leave enough time to browse the farm store before heading back to town. Between the baked goods, fresh produce, and famous apple cider donuts, most families leave with something delicious for the road.

Early Afternoon

Return to Palmer Square for one final meal at Princeton Soup & Sandwich Company. The relaxed atmosphere, dependable menu, and central location make it an ideal final stop before heading home. If time allows, browse a few boutiques or pick up a souvenir from jaZams before wrapping up the weekend.

By the time families leave Princeton, many are already discussing what they want to revisit on their next trip.

Is Nassau Inn a Good Place to Stay for Families?

Yes, Nassau Inn in Downtown Princeton is a great place to stay for families with kids and its location is one of the biggest reasons why.

Situated directly on Palmer Square, the historic boutique hotel places guests within walking distance of jaZams, Winberie’s, the Princeton University campus, Nassau Street, The Bent Spoon, and many of the destinations featured in this guide.

For parents, convenience matters. The ability to park the car, check in, and spend much of the weekend on foot makes the experience significantly more enjoyable.

Nassau Inn welcomes children of all ages and offers connecting rooms, making it easier for families to stay together while still maintaining a bit of breathing room. Pack-and-play cribs and rollaway beds are also available upon request (fees may apply).

Dining is equally convenient. The on-site Yankee Doodle Tap Room allows families to enjoy dinner without arranging transportation or additional reservations, while the Kids Eat Free Tuesday promotion provides added value for midweek visitors.

Additional amenities include:

  • Connecting rooms available
  • Daily housekeeping
  • Fitness center
  • Business center
  • 24-hour front desk service
  • Walkable access to Palmer Square attractions
  • Validated parking available in the adjacent garage

Perhaps most importantly, staying at Nassau Inn allows families to experience Princeton the way locals do—on foot, at a comfortable pace, and without spending the day moving from parking lot to parking lot.

Reserve Your Stay at Nassau Inn 

Plan Your Princeton Family Visit

Families researching Princeton NJ with kids are often surprised by how much the town offers beyond the university itself. Within a single weekend, children can explore a nationally recognized toy store, create art in a world-class museum, visit a working farm, enjoy family-friendly restaurants, and experience a historic downtown that feels welcoming rather than overwhelming.

What makes the experience especially appealing is how much of it centers around Palmer Square. From jaZams and Princeton Soup & Sandwich Company to Winberie’s, Nassau Inn, and the Green itself, many of Princeton’s most family-friendly experiences are located within just a few walkable blocks.

The result is a destination where families spend their time exploring rather than driving, and where both parents and children find plenty to enjoy.

For families ready to start planning, Nassau Inn provides the ideal home base for a Princeton weekend.

Book a Family Stay at Nassau Inn →

About the Nassau Inn

The Nassau Inn has anchored Palmer Square since 1937, offering 160 guest rooms and 28 suites in the heart of downtown Princeton. As a member of Historic Hotels of America, the Inn blends colonial charm with contemporary comfort while remaining home to the legendary Yankee Doodle Tap Room.

Just outside the front doors, Palmer Square offers walkable dining, boutique shopping, and seasonal community events throughout the year. And for those who decide one evening in Princeton simply isn’t enough, The Residences at Palmer Square place luxury living directly inside the neighborhood’s historic center.

Frequently Asked Questions

Is Princeton NJ good for a family day trip?

Yes. Princeton is one of the region’s best family day trip destinations because it combines walkability, cultural attractions, dining, and entertainment within a compact area. Families can comfortably spend a full day exploring jaZams, Palmer Square, the Princeton University Art Museum, and downtown Princeton without needing to drive between activities.

What is there to do at Palmer Square with kids?

Palmer Square is home to jaZams, one of New Jersey’s best-known specialty toy stores, as well as seasonal events, family-friendly restaurants, open green space, and shops that appeal to a range of ages. During warmer months, families can enjoy Movies on the Green, outdoor events, and plenty of opportunities for people-watching and exploration.

How far is Terhune Orchards from Palmer Square?

Terhune Orchards is located approximately four to five miles from Palmer Square, or about a ten-minute drive. Its seasonal festivals, fruit-picking experiences, farm animals, and family activities make it a natural addition to any Princeton family weekend.

Does Nassau Inn have family rooms or connecting rooms?

Yes. Nassau Inn offers connecting rooms and welcomes children of all ages. Families appreciate the hotel’s central location, which places many of Princeton’s most popular attractions within walking distance.

Is the Princeton University Art Museum free for kids?

Yes. Admission to the Princeton University Art Museum is completely free for visitors of all ages. Families can also take advantage of the museum’s Creativity Labs and family-focused programming throughout the year.

What is jaZams in Palmer Square?

jaZams is a locally owned specialty toy and book store located at 25 Palmer Square East. Named Best Toy Store in New Jersey by NJ Monthly, the store carries more than 10,000 items, including educational games, puzzles, books, art kits, STEM toys, and gifts for children of all ages. Hours are Monday through Wednesday 10 a.m.–6 p.m., Thursday through Saturday 10 a.m.–8:30 p.m., and Sunday 12 p.m.–5 p.m.

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