We visited the Waterford Medieval Museum in July 2015 with our two boys, aged 13 and 9.
There was lots to see and do as the museum unravelled the history of Waterford. There was a good mix of interactive learning and viewing historic artefacts from the city's past.
Would recommend seeing the Vestments room which showcases beautifully embroidered coats with a wee bit of WB Yeates Cloths of Heaven being read over the speakers.
Would take a good two hours to explore the whole museum. We did so on a rare rainy day during our trip.
Would recommend this museum if you are in Waterford.