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Besides the River Museum in Essex, you might also like the boat tour on the CT river. I think you can buy tickets that combine the train ride with the boat cruise. At this time, town of Essex also offers a festival, where many interesting vendors participate, so you should check out town's calendar.
Mystic Aquarium is a great attraction for little kids. Mystic and New London's waterfront are great places to walk around, and try some local seafood.
Children's Museum in Middletown is a good place also if the weather is bad.
If you cross the river - do take the ferry- the kids will enjoy that. It only holds about 8 cars if it's full, so you're right at the water on it. As others have noted the kids will likely have fun wandering around Gillette's Castle.
If you go the Castle stop at Ray of Light Farm on Rt 82 in East Haddam, right near where you turn off it for the Castle. Ray of Light is an animal rescue and horse riding stable. It's free and open to the public every day but Wednesday. They've got horses, ponies, donkeys, goats, sheep, tortoises, turkeys, little pocket pets, etc. It's a large acreage and the kids can wander around petting the critters.
If you get hungry, stop for lunch at Moravelas restaurant at the corner of Rt 154 & 148 in Chester. It's pizza & Italian. Looks like a little hole in the wall, but it's their pizza is actually quite good.
This is silly, but I must give in to the schoolmarm in me...
It's "Sights". "Sites" in your headline refers to locations where there will be a structure or was a structure, or a page on the internet.
Hence it's "sightseeing," not "siteseeing". And you did spell it correctly in the body of the post.
As for food, a trip down Highway 1 will lead you to some great fried clams and lobster rolls. I particularly recomend Lobster Landing in Clinton and Lenny and Joes in Madison or Westbrook.
And I second Bishops Orchards. Best apples in New England and they are picking right now. And really juicy peaches. Great for kids.
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