The Historical Museum shows the history of the city of The Hague with pictures, cityscapes and animations. The museum presents historical objects from different epochs of the city's history. The "Haags Historisch Museum" is located directly at the Hofvijver, the pond at the Binnenhof and is very close to the Mauritshuis.
The "Museum de Gevangenpoort" is located in a former prison. The museum shows how prisoners lived in the Middle Ages. You can see the historical torture instruments of the prison. It provides a good insight into the cruel punishments of the Middle Ages, which unfortunately are still practiced in some countries.
On of the most famous museums in The Hague is the "Voorlinden Museum" in Wassenaar. Voorlinden is set in a large park with a country house dating from 1912, which now houses a restaurant. The museum Voorlinden shows modern art. A room was built especially for Richard Serra, another highlight seeing is the swimming pool of Leandro Erlich. The stairs into the pool are hidden, try to find them.
Museum in The Hague
There are several museums in The Hague that are well worth seeing. The most renowned is the Maurithuis, with a world famous picture of Vermeer. But the other museums are also worth a visit. I can highly recommend the Museum Voorlinden in Wassenaar.