Market Hall Museum, Warwick

This 17th-century treasure in the heart of Warwick punches well above its weight for family appeal. The museum brings local history alive with genuinely engaging exhibits – think fossils you can handle, replica pots children can rebuild piece by piece, and the star attraction: a working beehive with transparent pipes letting you watch bees come and go through the window. There's dress-up for aspiring archaeologists, sensory bags available at reception, a puppet automaton that delights toddlers, and a Duplo table for the littlest visitors. Best of all? Entry is completely free.

The on-site cafe serves reasonably priced refreshments and those cakes come highly recommended. Staff are wonderfully helpful and keep emergency supplies of nappies at reception if you're caught short. Do note that access involves stairs, so you'll need to leave prams at the door or use a carrier, but the museum's manageable size makes this less of an issue than it might be elsewhere.

Monthly craft sessions run throughout the year – worth checking the schedule before you visit.