Seneca Park Zoo is a manageable, family-friendly zoo set on Rochester's north side inside the larger Seneca Park. It is not a sprawling all-day institution, which is part of the appeal: you can see the main exhibits without exhausting younger travellers.
The zoo puts visible emphasis on education and conservation, with animals from colder-climate species to tropical exhibits. Combine it with a walk in Seneca Park or along the Genesee River gorge if you want the visit to feel less like a standalone attraction.