For more ideas, read our Family-Friendly Hotels in London feature.
Morning: London Eye and the London Aquarium
Board a 30-minute flight on the London Eye, Europe's tallest observation wheel, and admire London from the great height of 135m.
After seeing the amazing views on the London Eye, walk just a few metres to the SEA LIFE London Aquarium, home to one of Europe's largest collections of global marine life. You can walk through a glass tunnel under a 'tropical ocean', watch diving displays and get hands-on in the touch pools and discovery zones.
Lunch: Natural History Museum
Head to the Natural History Museum in South Kensington to make friends with the dinosaurs, explore the wonders of the natural world and enjoy a packed lunch in the museum's picnic area or a snack in one of the three cafés.
Afternoon: Science Museum
Next door in the Science Museum you can experience the major scientific advances of the last 300 years through a range of exciting, hands-on exhibits.
Evening: Hard Rock Cafe and the West End
Have dinner at the Hard Rock Cafe, the very first Hard Rock restaurant.
Morning: Madame Tussauds
Mingle with the rich and famous at Madame Tussauds' world-renowned collection of wax figures. Enter the Chamber of Horrors if you dare!
Lunch: Regent's Park
Behind Madame Tussauds is Regent's Park – the perfect place for a picnic.
Afternoon: London Zoo and Hamley's
Make your way across Regent's Park to ZSL London Zoo, where you can learn about the animals and their natural environment. Don't miss feeding time for the penguins and the bird display.
You should just have time for a bit of shopping before dinner. The kids will love Hamley's in Regent Street, a seven-storey Aladdin's Cave devoted to toys.
Evening: Rainforest Café
Continue the animal theme and end the day in the Rainforest Café, Piccadilly, a fantastic recreated rainforest with a cascading waterfall, thunder and animated wildlife!
Morning: Royal Observatory
Lunch: Greenwich Park
Picnic in Greenwich Park or eat in one of Greenwich's historic pubs or restaurants. Family-friendly local favourites include Goddard's At Greenwich for traditional pie and mash at bargain prices, Jamie's Italian with its own kids menu, and Desperados for Tex-Mex/Spanish specialities.
Afternoon: V&A Museum of Childhood
Take the Docklands Light Railway to Stratford, and then change onto the Central Line to Bethnal Green. Here you'll find the V&A Museum of Childhood, a whole museum dedicated to toys, puppets, dolls, games and children's costumes and furniture.