Leon's frozen custard drive-in Milwaukee Wisconsin

100+ Places to Get Frozen Custard or Ice Cream in the Milwaukee Area (2022)

There’s few family traditions as time-honored as going out for ice cream, and if you’re from around here, you’re probably more likely to go out for frozen custard (yes – there’s a difference, and yes – it matters what you call it).

No matter what type of creamy, frozen treat you crave, there are plenty of places where kids (and parents) can get their fix. We sorted them by type to make it even easier!


Thank you to our partners at CTSI of Southeast Wisconsin for sponsoring this article, and for providing brain-building tips powered by Vroom!


Let’s get one thing straight – frozen custard is NOT ice cream, and every good Milwaukeean knows it. Though the two are very similar (made with cream and sugar), frozen custard has one key ingredient that ice cream doesn’t – egg yolks! The result is a denser, richer, sweet treat to tickle your taste buds.

specialty sundae at Kopp's frozen custard
Photo Credit: Facebook, @koppsfrozencustardlayton


18880 W. Bluemound Rd., Brookfield, WI 53045
5373 N. Port Washington Rd., Glendale, WI 53217
7631 W. Layton Ave., Greenfield, WI 53220

A local landmark, this local frozen custard chain has not one but TWO flavors of the day. We dare you to pick only one! Their locations are in Brookfield, Glendale and Greenfield.


7515 W. Bluemound Rd., Milwaukee, WI 53213
(414) 453-4875

Wisconsin’s oldest, continuously running, fast food restaurant has been in business since 1938, and it’s still going strong! They serve frozen custard, hot sandwiches, fries, onion rings and specialty custard cakes and pies.

Leon's frozen custard drive-in Milwaukee Wisconsin
Photo Credit: Facebook, @LeonsFrozenCustard

Leon’s Frozen Custard

3131 S. 27th St., Milwaukee, WI 53215
(414) 383-1784

This classic, 1950s-style drive-in has been around since 1942. It’s family-owned and famous for its house-made frozen custard, milkshakes and other fast-food eats.

Oscar’s Frozen Custard

2362 S. 108th St., Milwaukee, WI 53227
7041 South 27th St., Franklin, WI 53132
21165 E. Moreland Blvd., Waukesha, WI 53186

Frozen custard shops are always a safe bet for kid-friendly cuisine in the Milwaukee area, and Oscar’s delivers at three different locations. The Franklin location has a model train setup that will delight young children.

Buddy’s Burgers and Custard

1345 S. West Ave., Waukesha, WI 53186
(262) 875-4852

Burgers, custard and more on Sunset Drive in Waukesha.

Fred’s Frozen Custard & Grill

4726 W. Vliet St. Milwaukee, WI 53208
(414) 771-6270

A Milwaukee tradition since 1967, Fred’s menu offers made-to-order burgers, sandwiches and sides alongside frozen custard and sundaes.

Dairyland Old-Fashioned Frozen Custard & Hamburgers

3rd St. Market Hall, 275 W. Wisconsin Ave., Milwaukee, WI 53203
Central Waters Brewing Co., 1037 W. Juneau Ave., Milwaukee, WI 53233

Proudly serving old-fashioned frozen custard and hamburgers from the heart of America’s Dairyland. There are two locations in downtown Milwaukee – 3rd Street Market and Central Waters Brewing Co.


8333 W. Appleton Ave., Milwaukee, WI 53218
(414) 509-7292

Frozen custard, gelato, sorbet, slushies, burgers, pizza, wings and more – this place has it all!

Big Deal Burgers & Custard

1440 S. 84th St., West Allis, WI 53214
(414) 774-4000
Facebook Page

Home of creative custard flavors include Brandy Old Fashioned Sweet! Located in West Allis on 84th and Greenfield, across from State Fair Park.

Murf’s Frozen Custard & Jumbo Burgers

12505 Burleigh Rd., Brookfield, WI 53005
(262) 814-6873 (MURF)

The frozen custard here is made fresh throughout the day. Choose from thick malts and shakes to specialty floats and sundaes with all kinds of toppings. Get a single scoop of custard to eat now or a half-gallon to take home.

Milk Can

S73W16770 Janesville Rd., Muskego, WI 53150
(262) 649-9209

What began as a food truck in 2019 is now a brick-and-mortar restaurant in Muskego. A contemporary twist on the burger and custard tradition, Milk Can has supper club roots and deep ties to the Midwest.

frozen custard cones at LeDuc's Wales Waukesha Wisconsin
Photo Credit: Facebook, @leducscustard


240 W. Summit Ave., Wales, WI 53183
(262) 968-2894

Choose from chocolate, vanilla and flavor-of-the-day selected from an ever-growing list of about 75 different flavors. Packaged custard is available in pints and quarts, and custard pies may be ordered for your special event. Located three miles south of 94 at the intersection of Highway 83 and 18, they also have an extensive menu of burgers, sandwiches, soups, appetizers and more. 


1276 Capitol Dr., Pewaukee, WI 53072
(262) 695-8189

Founded in October 1998, Bubba’s is one of the “newer” frozen custard joints on this list. They proudly serve fresh frozen custard, handcrafted shakes and malts and custom, flame-broiled, 1/3-lb. jumbo burgers. They also are focused on giving back to the local community, supporting Pewaukee Youth Baseball, the local Firefighters Auxiliary, the Pewaukee 4th of July Celebration, Make-A-Wish Foundation of Wisconsin and numerous local charities and events each year through fundraisers and donations.

Wholly Cow frozen custard restaurant Delafield Wisconsin
Photo Credit: Facebook, @WhollyCowFrozenCustard

Wholly Cow

637 Main St., Delafield, WI 53018
(262) 646-2555

A neighborhood favorite for almost 30 years, Wholly Cow started as a small walk up ice-cream shop before turning into a full frozen custard restaurant with indoor seating and a gift shop. It’s a family-owned business that does what it can to support the Delafield community.


N87 W16459 Appleton Ave., Menomonee Falls, WI 53051
(262) 251-3320

Old-fashioned counter-serve burger joint with ice cream, sundaes, malts and a homespun vibe.


N112W16040 Mequon Rd., Germantown, WI 53022
(262) 250-1683

A contemporary eatery with outdoor picnic tables, Robert’s has a larger-than-average food menu and a guest-first policy.


N88W15325 Main St., Menomonee Falls, WI 53051
(262) 255-5728

Besides custard made fresh every day, Kraverz also offers never-frozen burgers, top-grade gyro meat, and and service with a smile.


N71W5184 Columbia Rd., Cedarburg, WI 53012
(262) 376-0601

Hefner’s Custard opened its doors in 1995 in Cedarburg, WI. Founder Tom Holubowicz, a product of Milwaukee’s north side, started his custard career working at the original Kopp’s Custard, learning his trade under the one and only Karl Kopp. Over the next two decades, Hefner’s became a cornerstone in the Cedarburg community. Tom passed away in 2017, but his son and daughter took over the family business as second-generation owners, and they’ve kept the tradition alive.


675 Grand Ave., Hartford, WI 53027
(262) 670-2663

This retro drive-in style restaurant offers outdoor seating, oldies tunes, and easy carryout. Fresh custard is made daily (vanilla, chocolate and daily flavor), and the menu includes sandwiches and burgers made with locally raised beef.

Kiltie Drive-In Ocronomowoc Wisconsin
Photo Credit: Facebook, @kiltiedrivein

Kiltie Drive-In

N48W36154 E. Wisconsin Ave., Oconomowoc, WI 53066
(262) 567-2648

Soft-serve frozen custard, burgers, fries, onion rings, chicken sandwiches, and much, much more – all at an iconic drive-in custard stand!

Ted’s Ice Cream & Restaurant

6204 W North Ave, Wauwatosa, WI 53213
(414) 258-5610
Facebook Page

A family-owned restaurant specializing in breakfast, burgers, fish fries and homemade frozen custard.

girl eating frozen custard at Ferch's Beachside Grille Bay View Wisconsin
Photo Credit: Facebook, @ferchsbeachside

Ferch’s Beachside Grille

100 Oak Creek Parkway, Greendale, WI 53172

Heading to Grant Park for a beach day? Don’t forget to stop by this restaurant for burgers, frozen custard, and adult beverages. There’s live music every Friday, and you can rent chairs, umbrellas and kayaks there as well.

Georgie Porgie’s Treefort

9555 S. Howell Ave., Oak Creek, WI 53154
(414) 571-9889
Facebook Page

A family-friendly restaurant with burgers and fresh frozen custard.


These local artisans are churning up some of the most delectable batches of ice cream. We’re proud to call them Milwaukee’s own!

Purple Door ice cream cone Milwaukee Wisconsin
Photo Credit: Facebook, @Purpledooricecream

Purple Door

205 S. 2nd St., Milwaukee, WI 53204
(414) 988-2521

In April of 2011, less than a year after having their first son, Lauren and Steve Schultz launched Purple Door Ice Cream in their Bay View home kitchen. Purple Door began solely as a wholesale business, selling pints of ice cream to local grocers and large sized containers to area restaurants. Today, they also have a retail location in Walker’s Point, where you can find 20 innovative flavors of ice cream in scoops, shakes, sundaes, pints, sandwiches, pops, cakes and more. Be sure to peek through the 2nd Street window, and you might catch a glimpse of ice cream being made in the production kitchen. 

Scratch Scoop Shop

Crossroads Collective
2238 N. Farwell Ave. Milwaukee, WI 53202
(414) 250-0025

Zocalo Food Truck Park
636 S. 6th St. Milwaukee, WI 53204
(414) 395-2140


Handcrafted in small batches, Scratch Ice Cream is scooped in 10 delicious flavors at their Crossroads Collective shop, and from a camper parked permanently at Zocalo Food Truck Park 9 months a year. You can also get ice cream sandwiches and take-home pints.

Frozen Frog

W189S7835 Racine Ave., Muskego, WI 53150

Homemade ice cream made with the best ingredients on earth. They scoop 20 different flavors, rotating out new and seasonal options every day. When you can’t decide which flavor you want, tasting flights are the way to go!

Creamy Pig

W62 N601 Washington Ave., Cedarburg, WI 53012
(262) 204-8044

This Cedarburg deli serves up brats and hot dogs with various toppings, as well as a chicken salad wrap. However, their claim to fame is their homemade ice cream and custard. At least a dozen different flavors are available and changing daily, including a couple of vegan options.

six scoop artisan flight at Everyone's Ice Cream
Photo Credit: Facebook, @EveryonesIceCream

Everyone’s Ice Cream

8125 W. National Ave., West Allis, WI 53214
(262) 518-0129
Facebook Page

This ice cream collective in West Allis scoops a selection of rotating flavors from five locally-based artisan creameries, including Purple Door, Sweet Tooth Grin and Scratch. Can’t decide on one flavor? No problem! Try a flight with six different scoops!


Hand-scooped frozen goodness in all your favorite flavors. What’s your answer to the age-old question: “Cone or dish?”

Cedar Crest ice cream cones
Photo Credit: Facebook, @moorlandroadgolf

Cedar Crest

Churned in small batches right in Manitowoc, Cedar Crest ice cream is a popular Wisconsin brand (not to mention the originator of Elephant Tracks). Many local parlors that offer hand-dipped (scooped) ice cream exclusively offer some of Cedar Crest’s 80 flavors, such as Super Madness, Caramel Collision and Blue Moon. Here are some local establishments where you can get Cedar Crest ice cream in a cone or a dish:

Babe’s Ice Cream

2264 S. Kinnickinnic Ave., Bay View, WI
(414) 482-4000

Family owned since 2005, Babe’s Ice Cream is a seasonal ice cream shop located in the heart of Bay View. They rotate up to 110 flavors of Chocolate Shoppe Super Premium ice cream. They also offer no sugar added, Italian ice, non-fat Greek yogurt, caffeinated sherbet and non-dairy soy-based ice cream. There’s truly something for everyone! They also sell ice cream cakes in a variety of flavors and sizes.

Allo! Chocolat

234 W. Main St., Waukesha, WI 53186
(262) 544-8030

Besides hand-crafted chocolates and nostalgic candies, Allo! also scoops Chocolate Shoppe ice cream to satisfy your sweet tooth.

La Michoacana

S. 35th St., Milwaukee, WI 53215
3142 S. 13th St., Milwaukee, WI 53215
1332 W Lincoln Ave, Milwaukee, WI 53215
717 S. 2nd St., Milwaukee, WI 53204
1937 W. Forest Home Ave., Milwaukee, WI 53204

Mexican-style ice cream made with natural ingredients.


These places do ice cream just a little bit differently – and we dig it!

Don’s TV & Repair

1100 S. 1st St., Milwaukee, WI 53204
(414) 808-0305

One of Milwaukee’s best kept secrets, this speakeasy operates under the guise of an outdated TV and repair shop on the southeast side. The interior features nostalgic 90s décor like vintage electronic, Nintendo and other retro brands. They serve dinner and all-day breakfast, but the real hit is the build-your-own milkshakes (including boozy ones for the parents), topped off with a vintage treats (e.g., Hostess Twinkie). Learn how to snag an access code >>

milkshakes from Better Together Cafe South Milwaukee Wisconsin
Photo Credit: Facebook, @bettertogethercafe

Better Together Café

1301 N. Chicago Ave., South Milwaukee, WI 53172

Owned by a husband-and-wife team with three small kids, the Better Together Café is half espresso bar, half milkshake bar. The milkshakes are over-the-top and Instagram worthy, topped off with sprinkles, flavored syrups, whipped cream, cakes, cookies, vintage candies and more. They also have a mobile cafe that you can hire for your next event.

Pete's Pops storefront Milwaukee Wisconsin
Photo Credit: Facebook, @petespopsmke

Pete’s Pops

3809 W Vliet St, Milwaukee, WI 53208
916 E Russell Ave, Milwaukee, WI 53207
1977 S 71st St, West Allis, WI 53219

This popsicle company makes more than 100 unique flavors of pops and ice cream bars from all natural ingredients, including some really interesting flavor combinations! They often pop up at local events, but you can also find them at the addresses listed above.

AM Ice Cream

1234 Milwaukee Ave., South Milwaukee, WI 53172
Facebook Page

This family-owned and operated small business specializes in rolled ice cream and bubble waffle ice cream. They offer a variety of flavors and toppings, as well as hand-scooped Cedar Crest ice cream and Hawaiian shaved ice.

Paparazzi Ice Cream Shop

6235B N. Teutonia Ave., Milwaukee, WI 53209
5121A Douglas Ave., Racine, WI 53402

Signature rolled ice cream that’s fun to watch being made! Fun topping options include fruit, candy bars, Oreos, Fruity Pebbles, gummy bears and more.

Insomnia Cookies

1804 E. North Ave., Milwaukee, WI 53202
1133 N. Doctor M.L.K. Jr. Dr., Milwaukee, WI 53203
2217 S. Kinnickinnic Ave., Milwaukee, WI 53207

This bakery chain specializes in warm cookies and ice cream – and combining the two into delicious ice cream sandwiches! Best of all, they stay open later than most ice cream shops.


You can’t go wrong with a time-honored, nationally popular classic!

Photo Credit: Facebook, @culvers


Get Locations

With nearly 30 locations in the Milwaukee area alone, this iconic frozen custard and ButterBurger chain has cemented its place in the Midwest. Choose from chocolate, vanilla or the special flavor of the day – which varies at each location – or grab a Concrete Mixer with your favorite mix-ins. It’s also a great place to nosh on some cheese curds or grab a fish fry.

Dairy Queen

Get locations

The first Dairy Queen opened in 1940, and it quickly became a national standard for soft serve ice cream treats. Dilly Bars, Blizzards, Buster Bars, DQ Cakes … each one is an American tradition. There are 13 different franchises in the Milwaukee area.

The Chocolate Factory

W62 N577 Washington Ave., Cedarburg, WI 53012
3230 Golf Rd., Delafield, WI 53018
13475 Watertown Plank Rd., Elm Grove, WI 53122
7963 S. Main St., Oak Creek, WI 53154
1077 Summit Ave., Oconomowoc, WI 53066
161 W. Wisconsin Ave., Pewaukee, WI 53072
2120 E. Moreland Boulevard, Waukesha, WI 53186
1402 S. Main Street, West Bend, WI 53095

This local chain offers fresh subs with warm crusty rolls and fresh, premium ingredients, plus a delicious homemade mayonnaise. Top it off with local Wisconsin ice cream or choose from a variety of sundaes. (If you love The Chocolate Factory, be sure to visit the airy Pewaukee location right along the beach on Pewaukee Lake.)

Baskin Robbins

622 W. Wisconsin Ave, Milwaukee, WI 53203
1417 N. Wauwatosa Ave., Wauwatosa, WI 53213
8820 N. Port Washington Rd., Bayside, WI 53217
5100 W. Rawson Ave., Franklin, WI 53132
W190 S7797 Racine Ave., Muskego, WI 53150
249 State Hwy 164, Sussex, WI 53089

A colorful ice cream parlor chain known for its many flavors, plus sorbet and yogurt.

Cold Stone Creamery

2935 S. 108th St., West Allis, WI 53227
(414) 541-3888

This ice cream chain offers design-your-own creations that are hand-mixed on a cold, granite slab. There’s only one location left in the Milwaukee area, and it’s on Highway 100 in West Allis.


Soft serve is very similar to ice cream, but what makes it different is that air is introduced during the freezing process. It’s also usually dispensed directly from the machine that freezes it. The ice cream you order from most fast food restaurants – like McDonald’s and Dairy Queen – is soft serve.

Tastee Twist soft serve cones Milwaukee Wisconsin
Photo Credit: Facebook, @TasteeTwist

Tastee Twist

2378 N. Teutonia Ave., Milwaukee, WI 53206
(414) 263-3585
Facebook Page

A Milwaukee staple for more than 30 years, this Black-owned neighborhood ice cream shop also serves up wings, hot dogs and nachos.

Lee's Dairy Treat in Brookfield Wisconin
Photo Credit: Facebook, @leesdairytreat

Lee’s Dairy Treat

14040 W. Greenfield Ave., Brookfield, WI 53005
(262) 782-6680

An octagon-shaped building with ice cream cone-shaped garbage cans, Lee’s is a retro place serving 96% fat free soft serve. There are 40 different toppings you can add to your sundae, shake, malt, or blitz. Lee’s also offers a variety of lunch and dinner entrees, including a homemade Bar-B-Que beef sandwich and made-to-order French fries.


In Italian, “gelato” is the common word for “ice cream.” In English, it refers to a frozen dessert that is specifically Italian. In Italy, gelato typically contains 6–9% butter fat, which is lower than other types of ice cream.

Cold Spoons Gelato Milwaukee Wisconsin
Photo Credit: Facebook, @ColdSpoonsGelato

Cold Spoons

5924 W. Vliet St., Milwaukee, WI 53208
(414) 395-3111

Cocoa Tree Confectionery

1330 West Mequon Road, Mequon, WI 53092
(262) 643-4692

Divino Gelato Café

Brookfield Square Mall, 95 N. Moorland Rd., Brookfield, WI 53005
Mayfair Mall, 2500 N. Mayfair Rd. #6510, Wauwatosa, WI 53226
227 W. Main St., Waukesha, WI 53186



162 E. Wisconsin Ave. #3034, Oconomowoc, WI 53066
(262) 391-0637

Zaffiro’s (Marcus Ridge Cinema)

5200 South Moorland Road, New Berlin, WI 53151


Frozen yogurt is made with yogurt and sometimes other dairy and non-dairy products. So unlike ice cream, it contains live bacterial cultures. Many “fro-yo” places typically have a variety of tasty toppings to choose from.

Yo Factory frozen yogurt sundae Milwaukee Wisconsin
Photo Credit: Facebook, @yofactory

Yo Factory

2203 N Farwell Ave, Milwaukee, WI 53202
(414) 988-4562

My Yo My!

100 S. Water St., Milwaukee, WI 53204
(414) 223-0277
Facebook Page

Daddy Yo’s

4874 S. 74th St., Greenfield, WI 53220
(414) 817-1100
Facebook Page

Red Mango

Carroll University Campus Center, 101 N. East Ave., Waukesha, WI 53186
(262) 524-7347

Smart Cow Yogurt Bar

N91W17271 Appleton Ave. #3, Menomonee Falls, WI 53051
(262) 250-1099


Southridge Mall, 5300 S. 76th St., Greendale, WI 53129
(414) 421-8849

YoFresh Yogurt Cafe

8701 S. Howell Ave., Oak Creek, WI 53154
(414) 301-4035
Facebook Page

Yo Mama!

1349 N. Wauwatosa Ave., Wauwatosa, WI 53213
(414) 988-5365

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See also:

101 Best Things to do in Milwaukee With Kids“.

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