If you have a local library card you can get a Museum Pass which will usually let 2 adults and 2 kids in free. Albany Library, for example, has the following:
Albany Institute of History and Art
125 Washington Avenue, Albany, NY 12210 (518) 463-4478 Check Availability View Website Arkell Museum
2 Erie Boulevard, Canajoharie, NY 13317 (518) 673-2314 Check Availability View Website Bennington Museum
75 Main Street, Bennington, VT 05201 (802) 447-1571 Check Availability View Website Berkshire Botanical Garden
Routes 102 & 183, Stockbridge, MA 01262 (413) 298-3926 Check Availability View Website Berkshire Museum
39 South Street (Route 7), Pittsfield, MA 01201 (413) 443-7171 Check Availability View Website Children's Museum at Saratoga
69 Caroline Street, Saratoga Springs, NY 12866 (518) 584-5540 Check Availability View Website Clark Museum
225 South Street, Williamstown, MA 01267
413-458-2303
Check Availability
View Website
Crailo Historic Site
9 1/2 Riverside Avenue, Rensselaer, NY 12144 (518) 463-8738 Check Availability View Website Eric Carle Museum of Picture Book Art
125 West Bay Road, Amherst, MA 01002 (413) 658-1100 Check Availability View Website Hancock Shaker Village
1843 West Housatonic Street, Pittsfield, MA, 01201 (413) 443-0188 | (800) 817-1137 Check Availability View Website Historic Cherry Hill
523 1/2 South Pearl Street, Albany, NY 12202 (518) 434-4791 Check Availability View Website Hyde Collection
161 Warren Street, Glens Falls, NY 12801 (518) 792-1761 Check Availability View Website Massachusetts Museum of Contemporary Art - Mass MOCA
87 Marshall Street, North Adams, MA 01247 (413) 662-2111 Check Availability View Website Museum of Innovation and Science - MiSci
15 Nott Terrace Heights, Schenectady, NY 12308 (518) 382-7890 Check Availability View Website Norman Rockwell Museum
Norman Rockwell Museum (Please note: This pass admits 2 people at a discounted admission rate of $10 each.) 9 Route 183, Stockbridge, MA 01262 (413) 298-4100 Check Availability View Website Old Stone Fort Museum
145 Fort Road, Schoharie, NY 12157 (518) 295-7192 Check Availability View Website Schuyler Mansion
32 Catherine Street, Albany, NY 12202 (518) 434-0834 Check Availability View Website Tang Teaching Museum and Art Gallery
815 North Broadway, Saratoga Springs, NY 12866 (518) 580-8080 Check availability View Website USS Slater
141 Broadway, Albany, NY 12202 (518) 431-1943 Check availability View Website