The best way to get to the Taronga Zoo in Sydney from our hotel was to walk a few blocks and take the ferry (you buy a combination ferry/zoo-admission ticket). Upon arrival at the dock you can take a funicular up to the zoo and then have a great time wandering around.
I have always like zoos, but after our safaris in Tanzania and Kenya where you'd see thousands of animals like zebras it seemed like it might be a let down so we hadn't gone to a zoo for a few years. I'm glad we went; it was great. It has a great layout with various trails through sections of the zoo and a wide array of animals from all over the world. One of trails was a mini-zip line.
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