Honestly, we could have done a trip like this in a bunch of different parts of the state. As the Dairy State, we’re blessed with some truly awesome ice cream places spread all over. We focused on the southeastern part of the state because it feels like an iconic Wisconsin ice cream trail has to have some frozen custard on it and that part of the state seems to have a monopoly on that delicious frozen treat.

Sometimes our road trips require multiple days or at least multiple drivers to try and fit it all in, but the beauty of this trip is that it clocks in right around two hours and just more than 90 miles. You might end up with one heck of a stomachache, but this trip could be done before lunch. If you’re looking for the best ice cream in Wisconsin on one mighty trail, this is the experience for you.

For directions and exact addresses, you can view the Google Map of the trip here. Now fasten your seat belts!

With a good mix of ice cream, custard, and soft serve, this list covers all the ice cream options you could ever want.
Google Maps
1. Purple Door Ice Cream - Milwaukee
Yelp/MM
Yelp/Josh B
Starting just south of downtown Milwaukee, start with an ice cream flight at Purple Door. These artisan ice cream makers have some of the most interesting and ridiculous flavors you've ever seen. If the whiskey, chocolate whisky or old fashioned are on the menu, don't even think twice - order away and then get some to take home.
Click here for more information about this ice cream shop!
Address: 205 S 2nd St, Milwaukee, WI 53204
2. Gilles Frozen Custard - Milwaukee
Yelp/Kay C
Yelp/France C
There are three iconic Milwaukee frozen custard joints and this trip takes you to all of them - for comparison purposes, obviously. Gilles is known for their custard treats and sundaes, though nothing here is disappointing.
Click here for more information about this ice cream shop!
Address: 27515 W Bluemound Rd, Milwaukee, WI 53213.
3. Leon's Frozen Custard - Milwaukee
Yelp/Ben B
Yelp/Kim K
Folks adore their Butter Pecan, so if it's on the menu, definitely get that. This old school drive-in style place on the near south side pretty much always has a line.
Click here for more information about this ice cream shop!
Address: 3131 S 27th St, Milwaukee, WI 53215
4. Kopp's Frozen Custard - Milwaukee
Yelp/Valerie P
Yelp/Bing L
Milwaukee frozen custard allegiance tends to hinge on where you grew up and which place you lived closest to. As someone who lived within walking distance of a Kopp's, my devotion is to their ever-rotating stable of amazing flavors. I'd have their Cookies N' Cream as part of my death row meal. The cones pictured? Those are single scoops. If the flavor of the day isn't your jam, the Swiss Chocolate is sinfully smooth.

For this map, we're using the location on 76th Street, but there are two more Kopps locations in the Milwaukee area in Glendale and Brookfield.
Click here for more information about this ice cream shop!
Address: 7631 W Layton Ave, Greenfield, WI 53220.
5. The Kiltie Drive-In - Oconomowoc
Yelp/Karthic S

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Yelp/Liz G
Generations of folks from lake country recall trips to the Kiltie with fondness. It's a blast from the past that's kept its niche long after others have faded away.
Click here for more information about this ice cream shop!
Address: 36154 Wisconsin Ave, Oconomowoc, WI 53066
6. Wholly Cow Frozen Custard - Delafield
Facebook/WhollyCowFrozenCustard
Yelp/Jen K
These guys have both frozen custard and ice cream, making them practically perfect. And the serving sizes are huge.
Click here for more information about this ice cream shop!
Address: 637 Main St, Delafield, WI 53018
7. LeDuc's Frozen Custard - Wales
Facebook/LeDucsFrozenCustard
Facebook/LeDucsCustard
We said this the last time we featured LeDuc's, but seriously - they have frozen custard pies. That's really all that needs to be said, but it says a lot about a place when people rave about their vanilla.
Click here for more information about this ice cream shop!
Address: 240 W Summit Ave, Wales, WI 53183
8. Gus's Drive-In - East Troy
Yelp/Violet P
Yelp/Charles B
Sit inside or eat in your car. Go on Saturday and see all the classic cars. This is one of the places where folks love the custard in malt form.
Click here for more information about this ice cream shop!
Address: 3131 Main St, East Troy, WI 53120
9. J. Lauber's Ice Cream Parlor - East Troy
Yelp/Brad C
Yelp/Brad C
A lot of the places on this list have a bit of an air of nostalgia, but J. Lauber's takes the sundae. With old-style soda jerks in vests, this is the epitome of a turn of the century soda fountain. And it's right next to the Railroad Museum.
Click here for more information about this ice cream shop!
Address: 2010 Church St, East Troy, WI 53120
10. Adrian's Frozen Custard - Burlington
Yelp/Douglas R
Facebook/AdriansFrozenCustard
For more than four decades, this place has been a staple of life in Burlington. Grab a cone and stroll along the lake in Echo Park next door.
Click here for more information about this ice cream shop!
Address: 572 Bridge St, Burlington, WI 53105

So what do you think about this trip featuring the best ice cream in Wisconsin?

If you’re not up for the whole road trip, how about just checking out one of the 15 greatest places to get frozen custard in Wisconsin?

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More to Explore

Best Ice Cream In Wisconsin

Marisa Roman | May 16, 2020

What is the most famous ice cream shop in Wisconsin?

Of course, out of all the ice cream shops in Wisconsin, there likely is one that ends up being the most popular. Whether it’s because of the history behind it, the longevity in the community, or just simply having the best ice cream, it’s always fun to find the most famous ice cream shop in every state. For Wisconsin, it’s hard to pinpoint just one however, it might be Wilson’s Restaurant & Ice Cream Parlor in Ephraim. This vintage soda fountain serves ice cream and has been around since 1906!

Where can I find the best desserts in Wisconsin?

The next time you’re venturing out to satisfying your sweet tooth, make sure to visit Madison Sourdough in Wisconsin. While the shop is known for it’s fresh, homemade bread, it’s the patisserie that is worth checking out. Get ready for some delicious baked treats and chocolate-covered cakes.

Can I visit any drive-thru ice cream parlors in Wisconsin?

If you want to snag some ice cream but don’t want to get out of your car, then we have the ultimate shop for you. Takeout ice cream is always worth the trip and one of the best places to score a sweet drive-thru is Gus's Drive-In in East Troy. Stay comfortable as you indulge!

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Featured Addresses
Purple Door Ice Cream, 205 S 2nd St, Milwaukee, WI 53204, USA
Gilles Frozen Custard, 7515 W Bluemound Rd, Milwaukee, WI 53213, USA
Leon's Frozen Custard, 3131 S 27th St, Milwaukee, WI 53215, USA
Kopp's Frozen Custard, 7631 W Layton Ave, Greenfield, WI 53220, USA
N48W36154 E Wisconsin Ave, Oconomowoc, WI 53066, USA
637 Main St, Delafield, WI 53018, USA
240 W Summit Ave, Wales, WI 53183, USA
3131 Main St, East Troy, WI 53120, USA
2010 Church St, East Troy, WI 53120, USA
572 Bridge St, Burlington, WI 53105, USA