This study examined the effects of incorporating milk protein concentrate (MPC), pea or soy proteins isolates (PPI and SPI) on the physicochemical, sensorial properties, and amino acid composition of ice creams containing 7% protein, in comparison to dairy ice cream as a reference. As protein ingredients, PPI exhibited higher water and oil holding capacity but lower surface hydrophobicity than SPI and MPC. Viscosity of the mixes were proportional to the firmness of ice cream, and both were highest with use of PPI. MPC ice cream had most similar physical and sensory properties to reference. PPI and SPI ice cream mixes showed higher extent of fat coalescence than MPC and reference. PPI and SPI conferred structural stability to ice cream with lower melting rate and better shape retention, and ability to delay ice recrystallization during temperature flocculation as compared with SMP and MPC. Confocal laser scanning microscope images indicated that higher extent of protein aggregation and more air cells were found in PPI ice cream. Sensory and amino acid profile results revealed that PPI and SPI ice creams were inferior in taste, texture, and essential amino acids like methionine. This study offers insights for the development of high protein frozen desserts.