Heritage Park Zoo is a small zoo with animals mostly native to the southwest since they are all outdoors. The exhibits are well labeled and kids will enjoy how close they can get to the animals.
Bring your own water as it can be quite warm most times of the year and there isn't a lot of shade. If your children do not walk well a backpack carrier of some kind is recommended since the paths are hilly and sometimes narrow and bumpy.
This small zoo is actually half rescue shelter and conservation center. Most of the animals are native to the southwest so you won't find any penguins or polar bears although they do have a tiger another zoo couldn't keep.
The animals are very accessible and fun to watch. There is also a petting zoo and large play structure with picnic tables perfect for lunch!