The 7 Best Ice Cream Shops in Wauwatosa 2024

A yummy ice cream tour through East Tosa and The Village 

Even though we prioritize our health, if you’re like us at, you love to enjoy ice cream when it’s nice out. There’s nothing better than creamy delicious ice cream or custard with the family on a beautiful day in Wauwatosa. We love it so much we put together an entire tour of our favorite local places so that you can enjoy a scoop or two as well!

The tour takes place in two of our favorite Wauwatosa neighborhoods – the Village and East Tosa. All stops are within a roughly 1.5 mile route, so it makes for a nice walk or bike trip if you want to do it all in one day! Plus, both neighborhoods are beautiful tours in their own right, even without ice cream. There are tons of old historic homes and buildings, full of architectural interest and beauty to enjoy. And the trees, parks, and river are some of the best natural beauties Wauwatosa has to offer. Both the Village and East Tosa have lots of other little shops, restaurants, and things to do. They’re walkable and very family friendly.

So if you want to enjoy some of our favorite parts of Wauwatosa, we suggest embarking on a delicious ice cream tour in these two wonderful neighborhoods. Enjoy!

7-stop ice cream shop tour

The Village of Wauwatosa

1. Yo Mama!
2. Niemann’s Candies & Ice Cream
3. Baskin-Robbins

East Tosa

1. Joy Ice Cream Social
2. North Ave Grill
3. Dairy Queen
4. Ted’s Ice Cream & Restaurant

1st Stop: Yo Mama!

1349 N Wauwatosa Ave
(414) 988-5365
www.yomamagoodness.com

Grab a cup, make your creation, and weigh & pay. At Yo Mama! it’s make-your-own frozen yogurt or ice cream creation. Just walk in, grab a cup and start filling up your bowl with a variety of different flavors. There are even sample cups so you can try all the flavors before you decide. Once you’re done picking your flavors, you can pick from dozens of toppings, including the traditional toppings, as well as candy, like gummies and peanut butter cups, and cereal, and much more. When you’re done, just put your bowl on the scale and pay.

Yo Mama! has a wonderful outdoor patio. There is plenty of additional seating available across the street as well. Also across the street is the next step on our tour!

2nd Stop: Niemann’s Candies & Ice Cream

7475 Harwood Ave
(414) 774-4940
www.niemannscandies.com

Easily the oldest business on our tour is Niemann’s. Since its inception in 1919, Niemann’s has been honing the craft of creating delicious homemade candies and ice cream. Their perfect treats can be attributed to the cherished recipes passed down through generations. The waffles cones are phenomenal and come highly recommended. And when you’re done there, you’re just a tiny walk from the third ice cream shop in the Village.

3rd Stop: Baskin-Robbins

1417 N Wauwatosa Ave
(414) 453-0330
www.baskinrobbins.com

The third stop, on basically the same corner as the first two stops, is a place you all probably know, Baskin-Robbins. Chances are you went to one growing up. But if you haven’t been to one in a while, wow, they have changed from when we were kids! Now they have cones in almost any flavor you can imagine, and the same goes for the ice cream these days too. But two things remain from when we were kids… kids still love this place, and the ice cream is still tasty, so it gladly makes our list of favorite Wauwatosa ice cream shops.

Once you’ve finished the first three stops of the ice cream tour, you’ll have a short 1 mile jaunt to the next location, in the East Tosa neighborhood, along North Avenue. It’s a very nice walk or bike ride between, but if you’re driving, there’s usually parking along the road on North Ave, or the side streets.

4th Stop: Joy Ice Cream Social

8334 W. North Ave
(414) 373-0172
www.joyicecreamsocial.com

The newest spot on this list is the small but mighty Joy Ice Cream Social. Situated in what was once an abandoned gas station is now a colorful and charming ice cream shop serving up locally crafted flavors. The delicious ice cream flavors have creative names like ‘Exhausted Parent’ made with bourbon-spiked espresso.

They have some seating inside, which is worth checking out because of how beautiful the space is, but our family’s favorite is the picnic tables outside. There’s lots of room for little ones to stretch their legs and play while enjoying their treat. And yes, they do offer delicious coffee too if you need a bit of caffeine to balance out all that sugar!

5th Stop: North Avenue Grill

7235 W North Ave
(414) 453-7225
www.northavegrill.com

They may be known for their sandwiches first, but locally owned North Ave Grill has some amazing ice cream desserts such as salted caramel cookie skillet & ice cream.  This old school style diner also makes some really tasty malts and shakes too. Once you’re done at North Ave Grill, enjoy a short walk or bike ride to the next stop just down the street…

6th Stop: Dairy Queen

6520 W North Ave
(414) 431-0510
www.dairyqueen.com

The second to last stop on our list is another beloved classic, Dairy Queen. With a drive-thru option,  it’s perfect for a quick treat on the go. Known for their delicious soft serve ice cream and famous Blizzard treats, Dairy Queen is a staple in the East Tosa neighborhood for soft serve cones, sundaes, cakes or Blizzards.

7th Stop: Ted’s Ice Cream & Restaurant

6204 W North Ave
(414) 774-4940

For our final stop, another restaurant that has been around longer than most of us have been alive – Ted’s. This old school diner restaurant has been serving up some amazing homemade frozen custard since 1941. Besides their homemade custard, their malts are to die for! They also specialize in breakfast, burgers, and fish fries. Plus they have the coolest wrap around breakfast bar in the area that creates a fun atmosphere inside.

As you can tell, Wauwatosa has no shortage of amazing ice cream shops, each with their own unique flavors and atmosphere. So grab some friends and embark on the ultimate ice cream tour in this charming Wisconsin neighborhood. You won’t be disappointed!