There are 5 pet friendly ice cream shops in Milwaukee that welcome dogs at their outdoor tables, and 14 more nearby. Need help to decide where to eat? Here’s a detailed description of each restaurant, along with pictures and reviews from other dog owners. Coming from out of town? Get a discounted rate on pet friendly hotels in Milwaukee. Bone appetit!
The Purple Door
At the Purple Door, handcrafted ice cream is king and each flavor is created with locally sourced, seasonal ingredients. Bring Fido for a taste of this Milwaukee original where you can sit at one of the four dog-friendly tables outside. Flavors are often rotating and include unique selections like whiskey, red wine cherry, black licorice, and rum horchata. More classic flavors include strawberry, vanilla bean, and butter pecan. The shop is open Sunday from 12:00pm to 10:00pm, Monday through Thursday from 12:00pm to 9:30pm, and Friday through Saturday from 12:00pm to 10:30pm.
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Nite Owl Ice Cream Parlour & Sandwich Shoppe
Nite Owl Ice Cream Parlour & Sandwich Shoppe, located in Milwaukee, WI, is a casual joint that serves up a variety of delicious treats and tasty eats. Fido is welcome to join you at this pet-friendly establishment, as they have a convenient walk-up window. Nite Owl Ice Cream Parlour & Sandwich Shoppe is open Tuesday through Saturday from 11am to 3pm.
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Babe's Ice Cream
Babe's Ice Cream in Milwaukee, WI, is pet friendly. Your leashed pup can join you at one of their three outdoor tables for a frozen treat. Their menu features sundaes, vegan goodies, cakes, milkshakes and more. Please note table service isn't available, so Fido must remain outside while you order.
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Yo Factory
Fido can join you at one of the two tables outside Yo Factory, a dog-friendly eatery in Milwaukee. Menu options include frozen yogurt with a variety of toppings, smoothies and other sweets. Coffee, tea and hot chocolate are also served. Please note that table service isn’t available, so Fido will need to wait outside while you place your order inside.
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Out & Out Custard & Sandwiches
Out & Out Custard & Sandwiches offers tasty sandwiches and wraps with a twist, and has a walk-up window so it's easy to order with your pup.
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Kopp's Frozen Custard
Kopp's Frozen Custard is a dog-friendly American food and frozen custard shop in Brookfield, WI. Your pup can join you at a table on the partially-shaded front patio. Their lunch and dinner menu includes burgers, chicken sandwiches, fish, fries, and onion rings. Their dessert menu features sundaes, shakes, floats, and their famous custard with regular and rotating flavors.
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Robert's Frozen Custard
Robert's Frozen Custard, located in Germantown, WI, is a casual ice cream shop that serves up a variety of delicious treats. Fido is welcome to join you at one of their pet-friendly outdoor tables while you indulge your sweet tooth. Robert's Frozen Custard is open Sunday through Thursday from 10:30am to 10pm, and Friday through Saturday from 10:30am to 11pm.
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Yofresh Yogurt Cafe
Yofresh Yogurt Cafe, located in Oak Creek, is a casual, self-serve fro-yo joint that serves up delicious sweet treats in a variety of flavors. Fido is welcome to join you at one of their pet-friendly outdoor tables while you indulge your sweet tooth. Choose from tasty options including Apple Pie, Irish Mint, Georgia Peach, Cake Batter, Pumpkin, Rootbeer Float, Cappuccino, Zesty Orange, Green Tea, and more! Once you've chosen a flavor, pile it high with the toppings of your choice (coconut, Whoppers, Reese's pieces, cookie dough, sprinkles, nuts, fruit, and more!) Please note that table service isn't available, so your dog will need to be tied up outside when you go in to order.
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Daddy Yo's Frozen Yogurt
Daddy Yo's Frozen Yogurt, located in Greenfield, WI, is a casual self-serve fro-yo joint that serves up delicious frosty treats in a variety of flavors. Choose from options including Cake Batter, Island Banana, Irish Cream, Raspberry, Sea Salt Caramel Pretzel, Cookies n Cream, and more. Fido is welcome to join you at one of their two pet-friendly outdoor benches while you indulge your sweet tooth. Daddy Yo's Frozen Yogurt is open Monday through Saturday from 11am to 10pm, and Sunday from 1pm to 9pm.
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Dairy Queen
Dairy Queen is a dog-friendly quick-service food concept serving frozen sweet treats to Waukesha locals and tourists alike. three outdoor tables are available to dog owners with a sweet tooth wanting to indulge alongside Fido. Dairy Queen's menu is comprised of Grillburgers, artisan-style sandwiches, hot dogs, chicken strip baskets, snacks such as Pretzel Sticks with Zesty Queso, Potato Skins, and chicken snack melts, salads, and sides such as fries, onion rings, and cheese curds. Its menu also includes blizzards, hot desserts a la mode, dipped cones, sundaes, cold and blended coffees, shakes, malts, and Orange Julius drinks. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.
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Dairy Queen
Dairy Queen is a dog-friendly quick-service food concept serving frozen sweet treats to Brookfield locals and tourists alike. Several outdoor tables are available to dog owners with a sweet tooth wanting to indulge alongside Fido. Dairy Queen's menu is comprised of Grillburgers, artisan-style sandwiches, hot dogs, chicken strip baskets, snacks such as Pretzel Sticks with Zesty Queso, Potato Skins, and chicken snack melts, salads, and sides such as fries, onion rings, and cheese curds. Its menu also includes blizzards, hot desserts a la mode, dipped cones, sundaes, cold and blended coffees, shakes, malts, and Orange Julius drinks. Please note that table service isn't available, so your dog will need to be tied up outside while you go in to order.
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Baskin-Robbins
The world's largest chain of ice cream shops, Baskin-Robbins is a dog-friendly sweet shop serving Wauwatosa locals and tourists alike. Visitors to Baskin-Robbins can head to one of its outdoor tables to indulge in a cone alongside their canine companion. Its menu is made up of cups, cones, sundaes, warm desserts, parfaits, mix-ins, cakes, and polar pizzas. Baskin-Robbins' ice cream flavors include Chocolate Almond, Cotton Candy, Gold Medal Ribbon, Peanut Butter 'n Chocolate, Rainbow Sherbet, and more.
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Dairy Queen
Dairy Queen is a dog-friendly quick-service food concept serving frozen sweet treats to Cedarburg locals and tourists alike. Outdoor tables are available to dog owners with a sweet tooth wanting to indulge alongside Fido. Dairy Queen's menu is comprised of Grillburgers, artisan-style sandwiches, hot dogs, chicken strip baskets, snacks such as Pretzel Sticks with Zesty Queso, Potato Skins, and chicken snack melts, salads, and sides such as fries, onion rings, and cheese curds. Its menu also includes blizzards, hot desserts a la mode, dipped cones, sundaes, cold and blended coffees, shakes, malts, and Orange Julius drinks. A drive-thru window is also available if you don't want to tie your dog up outside while you go in to order.
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Dairy Queen Muskego
Dairy Queen is a popular quick-service ice cream chain restaurant. This location in Muskego has a few pet-friendly outdoor tables where Fido is welcome. Although they don't offer a full dog menu, pup cups of vanilla ice cream are available upon request. Dairy Queen is famous for their signature frozen 'Blizzard' drink, as well as ice cream cakes, dipped cones, sundaes and ice cream bars. Aside from sweet treats, they also have a selection of fast food favorites such as burgers, fries, and chicken tenders. A drive-thru window is also available, so you don't have to tie your dog up outside while you go in to order.
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Chocolate Factory Ice Cream
Fido is welcome to join you at one of the three outdoor, pet-friendly tables at Chocolate Factory, an ice cream shop and eatery in Waukesha, WI. Enjoy menu items like sandwiches, salads, soups, desserts, a variety of ice cream flavors and more. Please note that table service isn’t available, so Fido will need to wait outside while you place your order inside.
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Pop's Custard
Pop's Custard is a dog-friendly dessert shop in Menomonee Falls, WI that welcomes leashed pups at outdoor tables. Stop by and check out their selection of delicious hamburgers, specialty sandwiches and frozen treats! Please note table service isn't available, so Fido will have to wait outside while you order.
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