The study’s objective was to characterize the effects of mealworm powder fortification on ice cream’s properties and nutritional value. The approximate composition and the mineral and fatty acid profiles were analyzed. Moreover, the antioxidant activity and physical properties as well as color were studied. As expected, insect powder substitution increased the protein content from 1.48 ± 0.13% for the control to 3.08 ± 0.22% for the sample with the highest insect substitution. The ash content increased as well. There was also a significant increase in zinc (2.5-fold), magnesium (3-fold), iron (4-fold) and unsaturated fatty acids. The ice cream with the highest percentage of insect powder had the slowest melting rate (0.094 ± 0.04 g/min) but the lowest overrun value (13.10 ± 0.22%) compared with the melting rate (0.145 ± 0.02 g/min) and overrun value (32.58 ± 0.6%) of control ice cream. Moreover, the ice cream turned darker in color. Furthermore, adding mealworm powder caused a significant increase in antioxidant properties as evaluated by ABTS and DPPH scavenging activity. Therefore, using mealworm powder in ice cream gave a product with better characteristics than the control sample, thus demonstrating the possibility of producing high-quality ice cream.