A raspberry, toffee and meringue ice cream, produced by Ryeburn of Helmsley, saw off tough competition to land the award in the cheese and dairy section.
David Otterburn, whose father Richard started the business, said he was delighted to have won the title.
Originally dairy farmers, the Otterburns diversified into ice- cream making and now produce around 1,000 litres a week during the summer.
“The raspberry, toffee and meringue ice cream is a new flavour we produced originally for a local chef and it went down really well so we decided to add it to our range,” Mr Otterburn said.
“It has got a great balance – we are delighted to have won the award. We can’t believe it, it’s a real honour.”
Meanwhile a Rougette Bavarian Red cheese took the Supreme Champion Cheese trophy.
Nick Reader, sales manager of Stockton-on-Tees-based Tom Walker and Sons, said he was “surprised and very happy’ to have won the top title.
“We have been coming to the Great Yorkshire Show since the Cheese and Dairy Show began but we have never won,” Mr Reader said.
“I am very surprised and happy. It is a great privilege to win when there are so many excellent cheeses being presented to the judges.”
The section attracted 788 entries from across the country, with classes for milk, cheese, yoghurt and ice cream.
Judging took place throughout the opening two days in the dairy section close to the site’s Food Hall and gardening area, where schoolchildren were set to hear the results from the hotly-contested Schools Vegetables Box competition.