Ice cementation and ice-substrate adfreeze force are the primary contributors to the high bearing capacity of pile foundations in cold regions and the stability of frozen walls in areas subjected to artificial freezing. Given the significant temperature sensitivity of ice’s shear rheology, engineering structures in ice or ice-rich soils continue to deform even under constant external loads. A thorough understanding of shear creep and the long-term adfreeze force at the ice-substrate interface is essential for predicting the continuous deformation of these structures. However, research into the shear creep behavior at frozen interfaces has historically been constrained by the precision of temperature control in experimental settings and the complexity of load paths in shear testing devices. In this study, a temperature- and stress-control device for interface shear creep is assembled firstly, and multilevel loading-unloading creep tests on steel pipes embedded in layered frozen ice were conducted. Through the decoupling of deformation progression, the viscoelastic and viscoplastic shear behaviors at the steel-ice interface under various temperatures and shear stresses were characterized, the principle of sustainable interfacial shear creep along with its underlying physical mechanism were proposed. Subsequently, with the aid of a modified nonlinear Burger model, various interfacial shear creep parameters were derived. Results reveal that the interfacial generalized shear modulus continuously improves but with a gradually weakening degree until a point of accelerating creep is reached. Additionally, the long-term adfreeze force is found to be less than half of the short-term strength, which significantly decreases as the temperature approaches the water phase transition zone. Interestingly, the stress exponent associated with the interfacial steady creep rate is considerably smaller than that predicted by Glen’s law. This research provides a theoretical basis instrumental in the engineering design in cold regions and those structures employing artificial freezing techniques.