Three museums come to mind, the small Wells Museum on the green by the cathedral, full of bits and pieces of prehistoric stuff, visited years ago.
Single issue museum; here of course the new Seahenge museum, altered mind view whilst gazing on the 'upside down tree', even now visioning it I feel its age and history pulling at my soul.
Thirdly, Whitby museum, a glorious hodge podge of everything, grandchildren love it, two galleries of paintings, fossils, ammonites, hideous Victorian stuff, especially the jet. Rock art under the tables, prehistoric axes on top; scrimshaw and boats in bottles, its the sheer ingenuity of people celebrated here. Also fabulous lecture on the Loftus A/S princess last time we were there, the burial ground near the neolithic barrow.
But I would also take children to Butser Farm for real hands on experience and Castell Henllys, sitting round a smoky fire in a roundhouse, perhaps learning to dye and weave. Outdoor museums are just as important for energetic creatures....