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:

Wholly Cow ICe Cream Guide sponsor

Delafield’s oldest and most loved Custard Shop
637 Main Street Delafield, WI 53018    262.646.2555

Looking for an authentic Wisconsin restaurant experience?  Wholly Cow is for you!!

This local, family-owned shop prides itself on quality ingredients, friendly service, and FRESH
frozen custard. Wholly Cow Frozen Custard, in charming downtown Delafield, has the best
selection of both ice cream and custard treats.  The food menu includes their famously delicious
burgers and fries.  Try the new vegan smoothie and don’t forget to stop by the Wholly Cow Gift Shop featuring Wisconsin souvenirs, jewelry, and toys.

Still owned by the original family, Wholly Cow Frozen Custard has been a
neighborhood favorite for 31 years.  Wholly Cow loves to support the local
community, every year you will see them handing out free ice cream cones at the 4th of July
Parade and donating certificates to the library Summer Reading Program. Wholly Cow provides
a friendly community gathering place where family and friends can meet to have fun. In short,
Wholly Cow hopes to continue providing good food and good times for many years to come.

Closing for good on Saturday, September 2, 2023.



20+ Must Stop Ice Cream Shop Spots

  1. Wholly Cow Frozen Custard in Delafield
    • CLOSED FOR GOOD in September 2023.
    • 637 Main St, Delafield
    • A truly authentic Wisconsin family-owned custard shop. Fresh frozen custard
      made each day.
    • Delafield’s oldest and most loved custard shop
    • Open seasonally from early May to September
    • If you are lucky, Mr. Moo, the Wholly Cow mascot, may make an appearance!
    • It is a friendly community gathering spot where families and friends meet to
      have fun.
    • Non-dairy smoothies available. Made with frozen bananas and almond milk. (I’ve tried them and love them!)
  2. 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
  3. CJ’s Coffee n’ Cream in Palmyra
    • 209 Taft St, Palmyra
    • A hidden, local gem – ice cream and coffee shop!
  4. Mullen’s Dairy Bar in Watertown AND Oconomowoc!
    • OPENED for the 2023 season on April 20th!
    • 212 W Main St, Watertown
    • 120 East Wisconsin Ave, Oconomowoc
    • Serving up handcrafted goodness since 1932.
    • Opened the business on May 27, 2021 in Oconomowoc!! They are located right behind Roots Coffee Bar overlooking Fowler Lake.
  5. Kiltie in Oconmowoc 
    • N48W36154 E Wisconsin Ave, Oconomowoc
    • Classic drive-in style/ cash or check only. Open seasonally only.
    • The Kiltie IS OPEN for the 2023 season, see the announcement post here.
  6. Kopps in Brookfield
    • 18880 W Bluemound Rd, Brookfield
    • Welcome to Burger + Custard heaven! Founded by Elsa Kopp in 1950.
  7. Oscars Frozen Custard in Waukesha
    • 21165 Hwy. 18, Waukesha
    • Awesome frozen custard and great burgers too.
    • Locations in Franklin and Milwaukee too.
  8. Gus’ Drive-in in East Troy
    • 3131 Main St. East Troy
    • Old-school burger and frozen custard joint.
  9. Whelans Coffee & Ice Cream in Oconomowoc
    • 163 E. Wisconsin Ave, Oconomowoc
    • Beautiful storefront on the streets of downtown Oconomowoc
    • Coffee + Ice Cream. Est 2006.
  10. Bubba’s in Pewaukee
    • 1276 Capital Dr, Pewaukee
    • Fresh, frozen custard in Pewaukee since 1998.
  11. Murf’s Frozen Custard in Brookfield
    • 12505 W. Burleigh Rd, Brookfield
    • The Burger Joint and Custard Stand. Local – Quality – Eats.
  12. Sweet Dreams in Hartland
    • 540 Hartbrook Dr, Hartland
    • Since 2009, Frozen Custard is made fresh every day with the special Sweet Dreams TLC.
    • New owners as of 2023!
  13. Pop’s in Menomonee Falls
    • N87 W16459 Appleton, Menomonee Falls
    • Ice Cream Shop in Menomonee Falls
  14. Robert’s in Germantown
    • N112W16040 Mequon Rd, Germantown
    • Fancy indoor space, great patio and a drive-through AND Just celebrated 15 years!!!
  15. 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)
    • Other locations in: Cedarburg, Elm Grove, Oak Creek, Shorewood, and West Bend
    • Sensational Subs & Sundaes – open year-round
  16. J. Lauber’s Ice Cream in East Troy, WI
    • 2010 Church St, East Troy (across from East Troy Railroad Museum)
    • Open seasonally (May 5 this year)
    • Authentic 1920s ice cream parlor with a huge candy counter, a 78 RPM jukebox and more!
  17. Lees 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!).
  18. Here’s the Scoop in Delafield (New in 2021)
    • New in 2021
    • Locally owned premium ice cream shop
    • 32 Ice cream flavors
    • Ice cream cakes
    • Open 11-9 daily except Sundays open 11-8
  19. Little DippeRz (New in 2022)
    • 230 Pawling Ave., Hartland
    • Serving ice cream from Cedar Crest Ice Cream, which is based out of Cedarburg, WI.
  20. 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.

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! Plus, Here’s the Scoop moved in April 2021 from Genesee Depot to downtown Delafield! Check them out in their new location.

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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