The Best Ice Cream in the Greater Milwaukee Area

Milwaukee may be famous for frozen custard, but the area’s frozen-dessert scene stretches far beyond chocolate and vanilla cones. Local shops are serving small-batch ice cream, Italian gelato, Mexican paletas, vegan scoops, nostalgic soft serve and sundaes large enough to become a family event.

This guide covers Milwaukee, the North Shore, Wauwatosa, West Allis, Brookfield, Waukesha, Cedarburg, Menomonee Falls and Lake Country. For a closer-to-home list, see our guide to the best ice cream and frozen treats on Milwaukee’s North Shore.

Hours and flavors can change—especially at seasonal stands—so check with each business before making a special trip.

Quick Picks: Where Should You Go First?

Best overall ice cream: Purple Door Ice Cream
Best small-batch flavors: Scratch Ice Cream
Best classic scoop shop: Babe’s Ice Cream
Best frozen custard: Kopp’s Frozen Custard
Best old-school Milwaukee experience: Leon’s Frozen Custard
Best historic custard stand: Gilles Frozen Custard
Best gelato: Divino Gelato Café
Best Mexican frozen treats: Paletería Yayo
Best soft serve: Lee’s Dairy Treat
Best lakefront cone: MooSa’s Custard Stand
Best drive-in experience: The Kiltie
Best Cedarburg stop: The Chocolate Factory

Purple Door Ice Cream

Best for: Creative, locally made ice cream
Locations: Walker’s Point and Mequon

If you want true Milwaukee-made ice cream rather than frozen custard, Purple Door Ice Cream is the best place to begin.

The company makes super-premium ice cream with local ingredients whenever possible. Its flavor catalog has grown to more than 200 creations, although the Walker’s Point dipping cabinet typically offers about 20 at a time. The rotation can include approachable choices such as cookies and cream alongside distinctly Milwaukee flavors involving whiskey, beer, lavender or seasonal produce.

A flight of small scoops is the smartest order for first-time visitors. It lets you sample several flavors without committing to one enormous cone. Purple Door also makes shakes, sundaes, ice cream sandwiches and vegan options.

The flagship shop has an updated patio, while the Mequon Public Market location makes Purple Door an easy North Shore destination.

Walker’s Point: 205 S. Second St., Milwaukee
Mequon Public Market: 6300 W. Mequon Road, Mequon

What to try: A four-flavor flight, Door County Cherry Chocolate Chunk or one of the rotating vegan flavors.

Scratch Ice Cream

Best for: Small-batch ice cream loaded with mix-ins
Locations: Brookfield, West Allis and Milwaukee

Scratch Ice Cream makes handcrafted ice cream from Wisconsin dairy and fresh ingredients. The results are rich, playful and frequently packed with cookies, brownies, cake pieces or other generous mix-ins.

The Brookfield shop, where the ice cream is produced, usually has the widest selection. The West Allis location shares space with Archie’s Flat Top and is a good choice when the family wants burgers and shakes with its ice cream. Scratch also lists a Milwaukee location on South Sixth Street and operates a seasonal trailer in Merton.

The flavor selection changes, but previous choices have ranged from classic cookie dough to strawberry pretzel and orange-cream-inspired ice cream. Vegan flavors are also part of the rotation.

Brookfield: 2205 N. Calhoun Road, Suite 6
West Allis: 6918 W. Becher St.
Milwaukee: 636 S. Sixth St.

What to try: Whatever flavor has the most house-made mix-ins—or an ice cream sandwich if available.

Babe’s Ice Cream

Best for: Families who want plenty of choices
Location: Bay View

A Bay View favorite since 2005, Babe’s Ice Cream serves 32 flavors of Wisconsin-made Chocolate Shoppe ice cream at a time and rotates through a much larger catalog throughout the season.

That makes Babe’s especially useful for families whose members rarely agree on dessert. The menu can include classic ice cream, non-dairy oat-based flavors, Italian ice, sherbet, frozen yogurt and no-sugar-added selections. Shakes, cakes and ice cream pies are also available.

Babe’s sits in the heart of the Kinnickinnic Avenue business district, making it a natural dessert stop after dinner in Bay View.

Address: 2264 S. Kinnickinnic Ave., Milwaukee

What to try: Zanzibar Chocolate, a seasonal flavor or a waffle cone filled with two contrasting scoops.

Kopp’s Frozen Custard

Best for: The complete Milwaukee custard experience
Locations: Glendale, Greenfield and Brookfield

Kopp’s Frozen Custard is the place we would send a first-time visitor who wants to understand why Milwaukee takes frozen custard so seriously.

Elsa Kopp opened her first stand in 1950 and helped popularize the now-ubiquitous “flavor of the day.” Kopp’s still serves vanilla and chocolate daily, joined by two rotating flavors that can range from simple fruit custards to elaborate combinations filled with cake, cookies, candy, caramel or fudge.

The custard is exceptionally dense and rich, and the restaurants are also known for enormous burgers. The Glendale location’s dramatic courtyard and waterfall make it particularly fun for children.

Glendale: 5373 N. Port Washington Road
Greenfield: 7631 W. Layton Ave.
Brookfield: 18880 W. Bluemound Road

What to try: A flavor-of-the-day cone or a hot fudge sundae.

For more history and regional recommendations, read our guide to the best frozen custard in Wisconsin and our custard lover’s guide to Milwaukee’s North Shore.

Leon’s Frozen Custard

Best for: Neon-lit Milwaukee nostalgia
Location: South Side

Leon’s Frozen Custard has been serving Milwaukee since 1942. Its glowing neon sign, walk-up windows and stainless-steel exterior create one of the city’s most recognizable food experiences.

Leon’s keeps the menu focused. Vanilla, chocolate and butter pecan are the regular custard flavors, with an additional special offered on select days. The custard is smooth, dense and unapologetically traditional.

There is no indoor dining room. Order at the window and eat in the parking lot, preferably after the neon comes on.

Address: 3131 S. 27th St., Milwaukee

What to try: Butter pecan custard or a chocolate-and-vanilla twist.

Gilles Frozen Custard

Best for: Milwaukee custard history
Location: Bluemound Heights

Founded in 1938, Gilles Frozen Custard bills itself as Wisconsin’s oldest continuously operating fast-food restaurant serving frozen custard.

Gilles has modernized over the decades, but the menu retains its neighborhood-custard-stand personality. Along with cones, sundaes and shakes, the shop is known for the Gillieburger—a loose-meat sandwich—and “Those Things,” custard sandwiches covered in a chocolate shell.

Gilles also sells custard cakes and pies, making it one of the area’s better options for birthdays.

Address: 7515 W. Bluemound Road, Milwaukee

What to try: One of “Those Things” or a thick Oreo shake.

Divino Gelato Café

Best for: Authentic gelato and sorbetto
Locations: Waukesha and Brookfield

Since 2003, Divino Gelato Café has developed a catalog of more than 200 artisan gelato and sorbetto flavors. The available selection changes, but expect Italian standards such as pistachio, stracciatella and hazelnut alongside fruit flavors, seasonal creations and American dessert-inspired combinations.

Gelato is served slightly warmer and generally contains less air than conventional ice cream, producing an intensely creamy texture and concentrated flavor.

The downtown Waukesha café is the destination location, with seating in its indoor piazza and easy access to the nearby Riverwalk. Divino also has a counter at Brookfield Square.

Waukesha: 227 W. Main St.
Brookfield: Brookfield Square food court

What to try: Pistachio, hazelnut or a fruit sorbetto paired with dark chocolate gelato.

Paletería Yayo

Best for: Mexican paletas and fruit-forward flavors
Location: South Side, with carts around Milwaukee

Paletería Yayo has grown from founder Rene Adan pushing a single cart into one of Milwaukee’s most recognizable paleta businesses.

Paletas are Mexican frozen pops made in both fruit-and-water and creamy milk-based varieties. Yayo’s selection can include mango, strawberry, lime, coconut, cookies and cream, chocolate and other traditional or seasonal flavors.

During the summer, the company’s carts appear in neighborhoods and at community events throughout Milwaukee. You can also visit the Lincoln Avenue shop directly.

Address: 1727 W. Lincoln Ave., Milwaukee

What to try: A fresh-fruit paleta, particularly mango with chile or a creamy coconut bar.

Looking for even more ways to cool down? Our Milwaukee slushie and frozen-drink guide includes Italian ice, frozen lemonade, bubble tea slushes and other icy treats.

Lee’s Dairy Treat

Best for: Classic soft serve
Location: Brookfield

Family-owned since 1971, Lee’s Dairy Treat delivers the kind of old-fashioned soft-serve experience many adults remember from childhood.

Vanilla, chocolate and twist cones form the foundation of the menu, but they can be dipped, rolled in toppings or upgraded into shakes, malts and oversized sundaes. Lee’s is also known for Flavor Burst cones, which add ribbons of flavored syrup around the soft serve.

The shop is seasonal and closed on Mondays, so check the current schedule before visiting.

Address: 14040 W. Greenfield Ave., Brookfield

What to try: A chocolate-dipped twist cone or a Flavor Burst cone.

MooSa’s Custard Stand

Best for: Ice cream with a Lake Michigan view
Location: Milwaukee lakefront

MooSa’s Custard Stand occupies one of the best dessert locations in the city: just above Bradford Beach at the historic North Point concession stand.

The custard itself is straightforward, but the setting makes this a memorable family stop. Order a cone or shake and walk across Lincoln Memorial Drive to the beach, playground or paved Oak Leaf Trail.

MooSa’s also serves burgers, brats, wings, fries and other casual food. It operates seasonally and may adjust hours because of weather or lakefront events.

Address: 2272 N. Lincoln Memorial Drive, Milwaukee

What to try: A custard cone enjoyed while watching the lake.

The Kiltie Drive-In

Best for: Carhop service and a summer road-trip atmosphere
Location: Oconomowoc

The seasonal Kiltie Drive-In has been an Oconomowoc tradition for nearly 80 years. Servers bring burgers, fried food and frozen custard directly to your vehicle, preserving an experience that has largely disappeared elsewhere.

The Kiltie reopened for the 2026 season in April under new ownership. It remains cash-only, so stop at an ATM before visiting.

The atmosphere is the main attraction, but the sundaes, flurries and shakes have a loyal following. Outdoor picnic tables are available, and the property is pet-friendly.

Address: N48W36154 E. Wisconsin Ave., Oconomowoc

What to try: A turtle sundae, raspberry shake or Bonnie Banana.

Oscar’s Frozen Custard

Best for: Big sundaes and late-night custard
Locations: West Allis, Franklin and Waukesha

Oscar’s Frozen Custard combines fresh Wisconsin-cream custard with generous portions and extensive sundae choices.

In May 2026, Oscar’s reopened its Waukesha-area restaurant after a fire destroyed the previous building in November 2024. The rebuilt location joins long-running shops in West Allis and Franklin.

Oscar’s offers vanilla, chocolate and rotating flavors of the day. Many customers come for specialty sundaes, shakes and homemade waffle cones. The West Allis and Franklin locations stay open especially late on Fridays and Saturdays.

West Allis: 2362 S. 108th St.
Franklin: 7041 S. 27th St.
Waukesha: 21165 E. Moreland Blvd.

What to try: A turtle sundae or the day’s most elaborate candy-filled flavor.

LeDuc’s Frozen Custard

Best for: A Lake Country custard stop
Location: Wales

LeDuc’s Frozen Custard has served Wales since 1980. Its location along Highway 18 makes it a convenient stop after hiking, biking or exploring western Waukesha County.

Along with vanilla, chocolate and a flavor of the day, LeDuc’s offers specialty sundaes, shakes, malts and other custard creations. There is a full menu of burgers and sandwiches if dessert needs to become dinner.

Address: 240 W. Summit Ave., Wales

What to try: The flavor of the day or a classic hot fudge sundae.

Kraverz Frozen Custard

Best for: Menomonee Falls families
Location: Menomonee Falls

Kraverz is a locally owned restaurant serving custard made fresh each morning, including a rotating flavor of the day.

It is less of a destination spectacle than Kopp’s or Leon’s, but it is a dependable neighborhood choice with indoor seating, a drive-through and a substantial food menu. That combination makes it especially convenient for families seeking a low-key dinner followed by custard.

Address: N88W15325 Main St., Menomonee Falls

What to try: The flavor of the day in a sundae or shake.

The Chocolate Factory

Best for: Ice cream during a Cedarburg outing
Location: Downtown Cedarburg, plus several suburban locations

Founded in Cedarburg in 1972, The Chocolate Factory pairs toasted sub sandwiches with Wisconsin-made ice cream.

The original Cedarburg restaurant occupies a historic building on Washington Avenue and typically offers more than two dozen flavors. Its old-fashioned sundaes come with hot fudge, whipped cream, almonds and a cherry.

The ice cream is worthwhile on its own, but the shop’s location is what earns it a place in this guide. Families can combine a cone with Cedar Creek Park, the Interurban Trail and the shops of downtown Cedarburg.

Cedarburg: W62N577 Washington Ave.

What to try: The signature hot fudge sundae or a scoop of Zoreo.

Our guide to Milwaukee’s best desserts includes more Cedarburg stops, while our Milwaukee-area candy shop guide covers chocolate, toffee, truffles and other treats.

What About Dairy-Free Ice Cream?

The most reliable dairy-free selections are generally found at Purple Door, Scratch and Babe’s, although daily availability varies.

Purple Door regularly rotates vegan flavors, including fruit sorbets and oat- or coconut-based creations. Scratch produces dedicated vegan ice cream flavors, while Babe’s carries non-dairy oat-based Chocolate Shoppe options.

Anyone with a serious food allergy should ask about ingredients and shared equipment before ordering. “Dairy-free” or “vegan” does not necessarily mean a product was prepared in an allergen-free facility.

Is Frozen Custard the Same as Ice Cream?

Not exactly. Frozen custard includes egg yolk and is churned with less incorporated air, producing a denser, smoother texture. It is also served fresh at a slightly warmer temperature than hard-packed ice cream.

That distinction matters in Milwaukee, where Kopp’s, Leon’s, Gilles and Oscar’s inspire the kind of loyalty usually reserved for sports teams. Ice cream lovers tend to prefer the greater variety at Purple Door, Scratch and Babe’s, while custard fans often prioritize texture, richness and the flavor-of-the-day calendar.

The correct answer, of course, is to try both.

More Frozen Treats Worth the Drive

If your ice cream adventures extend beyond Milwaukee, our Door County ice cream guide ranks the peninsula’s custard, gelato and scoop shops. You can also explore our complete Milwaukee dessert guide for doughnuts, pastries, chocolate and other family treats.

What shop serves your favorite cone in the Milwaukee area? Share your pick—and the flavor we should order—in the comments.