A study followed 158 US children under 18 who acquired Zika during travel (which is safe to say the same socioeconomic and health status as us), 2 were hospitalized, a 1 and 4y old. All recovered, no apparent long term damage. Symptoms were rash, fever, joint pain. No GBS.
You'll have to decide on your own what that means in terms of risk to your family. It will not stop us from taking our kids traveling, we just do our best to protect them from mosquito bites, much the same as protecting them locally against ticks.