The natural environment is vital for the healthy growth of children. The absence of exposure to Nature in cities is an important cause of physical and psychological health problems in children. With the objective of a healthy growth environment for children, this paper states the active role of the urban waterfront space, analyses the relationship between children and urban waterfront space, summarises the characteristics of children’s outdoor activities, proposes the principle and methods of planning and designing a children-friendly urban waterfront space, and provides some improved design strategies.