Kohler-Andrae State Park

Cordwalk-Boardwalk Trail
Full disclosure - we never got to hiking here.  My kids saw the lake, and all they wanted to do was swim.  This is a very popular park, and often has to close on the weekends because of the crowds.  If we would have hiked, I would have taken the easy 3 mile hike along the Cordwalk-Boardwalk Trail. This trail takes you along the shores and sand dunes next to Lake Michigan.  We come here in the summer, but mostly it is to swim in the clear and shallow water along the beach.  Currents can be a problem here, so be safe in the water.  The park does require a fee to enter $8 (out-of-state $11) for a day pass or an annual sticker for $28 (out-of-state $38).  There is also camping here, among other outdoor activities.  
Address: 
1020 Beach Park Ln
​Sheboygan, WI 53081