In last August I visited National Museum of Japanese History with my son. It is located in Sakura city, Chiba prefecture. It took 2 hours from the central Tokyo to the museum. The museum itself is huge. It takes 3 or 4 hours to see all exhibited objects. If you are planning to stay in Tokyo more than a year, I recommend to go to this museum. It is the best museum to learn Japanese history around Tokyo. For short stay visitiors, I do not recommend to visit the museum. Because it is far from the central Tokyo. The traveling time is wasting.
Its admission fee is 420 yen ($3.41 €3.18). In my case, I also bought a ticket for a special exhibition, the total cost was 930 yen ($7.56 €7.05). For under junior high school students, no admission fee is required.
The image below is the ticket.