Ice Cream Lake Country Family Fun Waukesha County

20 Must Stop Ice Cream Spots in and around Waukesha County

If Wisconsin is the dairy state and frozen custard reigns supreme, then Waukesha County and surrounding counties are in the epi-center of it all. In just about one county alone, we have access to TWENTY plus awesome, must-stop, local ice cream shops. Call us spoiled (or lucky!). We won’t complain.  What’s great about the ice cream shops, spots, and stops in this guide is that they all have that “home-town” vibe.  Great service, amazing quality and part of the communities we love so much!  Most of these ice cream spots are open year-round, which is great since the “Frozen Custard epi-center” lies in the frozen tundra. However, come summer what better tradition, than enjoying ice cream and custard with family and friends.

Enjoy a scoop (or two) and let this guide point you to some great spots close to home. Just like our weather changes daily here in Wisconsin, so do the flavors – so keep on top of your favorites!

Please thank our Ice Cream Guide Sponsor:

Lee’s Dairy Treat in Brookfield

Lee's Dairy Treat in Brookfield

Serving delicious ice cream treats in a fun-filled, old-fashion atmosphere since 1971!
14040 W. Greenfield Avenue Brookfield, WI 53005  262.782.6680

Opening for the season on Saturday, March 2, 2024!!
Lee’s Dairy Treat is closed on Mondays. Open from 3:00 p.m. to 10:00 p.m. Tuesday through Friday,
and from 11:00 a.m. to 10:00 p.m. on Saturdays and Sundays.



20+ Must Stop Ice Cream Shop Spots

  • Lee’s Dairy Treat in Brookfield
    • Serving delicious ice cream treats in a fun-filled, old-fashion atmosphere since 1971! 50+ YEARS!
    • Only octagon-shaped building with ice cream cone shaped garbage cans, “retro” hand-drawn menu signs hung in the windows, and a glowing neon sign
    • Soft serve is 95% fat-free. Just remember, that doesn’t include the 40 different mouthwatering toppings you can add to your sundae, shake, malt, or blitz!
    • HOME of the MONSTER, 32-ounce, quart-sized shake or malt.
    • Lee’s also offers a variety of lunch and dinner entrees including our homemade Bar-B-Que beef sandwich and made-to-order french fries (and other appetizers!)
    • Lee’s Dairy Treat is closed on Mondays. Open from 3:00 p.m. to 10:00 p.m. Tuesday through Friday, and from 11:00 a.m. to 10:00 p.m. on Saturdays and Sundays.
  • LeDucs in Wales
    • 240 W. Summit Ave, Wales
    • High quality frozen custard and dining since 1980 open year-round.
    • Ask about their Sundae Kits to-go
  • CJ’s Coffee n’ Cream in Palmyra
    • 209 Taft St, Palmyra
    • A hidden, local gem – ice cream and coffee shop!
  • Mullen’s Dairy Bar in Watertown AND Oconomowoc AND Delafield
    • 212 W Main St, Watertown – open year-round
    • 120 East Wisconsin Ave, Oconomowoc – opening seasonally April 19, 2024
    • COMING spring 2024 to Delafield – same building as the Smiley Barn. See HERE.
    • Serving up handcrafted goodness since 1932.
  • Kiltie in Oconomowoc 
    • N48W36154 E Wisconsin Ave, Oconomowoc
    • Classic drive-in style/ cash or check only. Open seasonally only.
    • Stay tuned for 2024 opening date!
  • Kopps in Brookfield
    • 18880 W Bluemound Rd, Brookfield
    • Welcome to Burger + Custard heaven! Founded by Elsa Kopp in 1950.
  • Oscars Frozen Custard in Waukesha
    • 21165 Hwy. 18, Waukesha
    • Awesome frozen custard and great burgers too.
    • Locations in Franklin and Milwaukee too.
  • Gus’ Drive-in in East Troy
    • 3131 Main St. East Troy
    • Old-school burger and frozen custard joint.
  • Whelans Coffee & Ice Cream in Oconomowoc
    • 163 E. Wisconsin Ave, Oconomowoc
    • Beautiful storefront on the streets of downtown Oconomowoc
    • Coffee + Ice Cream. Est 2006.
  • Bubba’s in Pewaukee
    • 1276 Capital Dr, Pewaukee
    • Fresh, frozen custard in Pewaukee since 1998.
  • Murf’s Frozen Custard in Brookfield
    • 12505 W. Burleigh Rd, Brookfield
    • The Burger Joint and Custard Stand. Local – Quality – Eats.
  • Sweet Dreams in Hartland
    • 540 Hartbrook Dr, Hartland
    • Since 2009, Frozen Custard is made fresh every day with the special Sweet Dreams TLC.
  • Pop’s in Menomonee Falls
    • N87 W16459 Appleton, Menomonee Falls
    • Ice Cream Shop in Menomonee Falls
  • Robert’s in Germantown
    • N112W16040 Mequon Rd, Germantown
    • Fancy indoor space, great patio and a drive-thru
  • Chocolate Factory in Pewaukee, Oconomowoc, Waukesha and Delafield
    • 161 Wisconsin Ave, Pewaukee
    • 2120 E Moreland Blvd, Waukesha
    • 1077 Summit Avenue, Oconomowoc, WI
    • Delafield – Shoppes of Nagawaukee (south of golf road)
    • N88W16498 Main Street, Menomonee Falls, Wisconsin 53051 – opening in 2024!
    • Other locations in: Cedarburg, Elm Grove, Oak Creek, Shorewood, and West Bend
    • Sensational Subs & Sundaes – open year-round
  • J. Lauber’s Ice Cream in East Troy, WI
    • 2010 Church St, East Troy (across from East Troy Railroad Museum)
    • Open seasonally
    • Stay tuned for 2024 opening date!
    • Authentic 1920s ice cream parlor with a huge candy counter, a 78 RPM jukebox and more!
  • Here’s the Scoop in Delafield 
    • Locally owned premium ice cream shop
    • 32 Ice cream flavors
    • Ice cream cakes
  • Little DippeRz
    • 230 Pawling Ave., Hartland
    • Serving ice cream from Cedar Crest Ice Cream, which is based out of Cedarburg, WI.
  • Try Kim’s Gourmet Pizza Pub in Stone Bank for custard!
    • An obvious (and amazing Pizza joint), but they are so much more than Pizza!
    • They have 8 flavors of custard (dish, cake cone and waffle cones)
    • They also have shakes and root beer floats.
  • Chocolate Shoppe Ice Cream
    • 113 N. Main Street, Dousman
    • Located inside Chamberlain’s Floral & Gifts

Extra Ideas: May we also recommend, Breakshot’s Huba Huba in Oconomowoc for their famous boozy and non-boozy shakes?  Or how about Sideliner’s in Genesee Depot for their ice cream cakes and shakes and other ice cream treats!? Try out all the sweets at E&S Sweets in Mukwonago!

Lake Country Family Fun recommends calling ahead for hours and availability. List above in no particular order.
Refer to our map below of the locations noted:


ICe Cream Trail Map 2021

Find an ice cream shop near me.

Other Wisconsin Frozen Custard Historical Must-stops

  • Gilles in Milwaukee – Milwaukee’s Oldest Custard Stand – Since 1938!
  • Leon’s in Milwaukee – since 1942
  • Culvers – Multiple Locations nation-wide, but founded in Wisconsin – over 120 locations in Wisconsin alone “Home of the Butter Burger”
  • Never Been Licked in Door County – Fish Creek
  • Michaels’ in Madison – since 1986
  • Randall’s in Sheboygan – since 1985

Enjoy your tasty treats, Wisconsin! For more on the history of Frozen Custard in Wisconsin check out this great book.

Need some further summer fun inspiration, start here!

List of 300+ Waukesha County Restaurants HERE.

4 thoughts on “20 Must Stop Ice Cream Spots in and around Waukesha County”

  1. Scoope De Ville in Hartford, has award winning Vanilla and many more unique Homemade
    ice -cream favorites. Also has a fantastic Old Fashion Candy counter, soda fountain, vintage jute box,and are known for their homemade Candied Nuts!!!

  2. Thanks for the options listed. Always looking for a new spot to enjoy ice cream in summer.
    Love Scoope De Ville and Hartford area sights.

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