For a lesser known experience, take the Phantom Canyon Road (CR 67) south to Florence. This section of road is the original route of one of the railroads that serviced the mines of the Cripple Creek area. From Florence, continue south on CO 67 to Wetmore and catch CO 96 west. About 10 miles from Wetmore, head south on CO 165 for 12 miles or so to Bishops Castle. Free, the best price. An amazing castle hand built by one man over the course of around 50 years. Your kids will love this place. Search Bishops Castle to see images.
You can return via the same route or extend your day by heading to Royal Gorge. There's a theme park and the bridge on top. Or there's an interesting railroad trip along the river into the gorge below the bridge that starts in Canon City.
Another route back to Cripple Creek is the Shelf Road (CR 9).
Note that both of the county roads are graded gravel roads but I've easily done both in small sedans.