Consumer preferences towards plant-based food have shifted significantly due to sustainable and healthy reasons. Dairy products consist of high Saturated Fatty Acid (SFA) and overconsumption of SFA could lead to cardiovascular diseases. Avocado contains high levels of fat dominated by Monounsaturated Fatty Acid (MUFA) and phytosterol that have the potential as a plant-based fat source to substitute dairy-fat in ice cream. The objective of this study was to analyze the physicochemical, rheological and sensorial properties of ice cream substituted with different concentrations of avocado paste ranging from 0%, 25%, 50%, 75% and 100% respectively against dairy fat to produce non-dairy fat ice cream. The psychochemical properties and total fat were determined. Sensorial quality and hedonic attributes of ice cream were investigated using 60 semi-trained panelists. There were significant differences (p<0.05) for overrun, melting rate, and viscosity of the ice cream substituted with avocado paste. The addition of avocado paste lead to the increase in viscosity and hardness of the ice cream significantly (p<0.05) while the sensorial properties for airiness and creaminess were perceived the same (p>0.05). The addition of 50% avocado paste was the most preferred among the panelists. Avocado could provide a potential substitution for dairy-fat in ice cream.