The dessert, called Baby Gaga, went on sale at ice cream parlour Icecreamists in Covent Garden in February.
But Westminster Council officers removed the product to make sure it was "fit for human consumption".
Icecreamist founder Matt O'Connor said the donor was medically screened and the milk mixture was pasteurised.
The ice cream was churned with donations from London mother Victoria Hiley, and served with a rusk and an optional shot of Calpol or Bonjela. Each serving costs £14.
Westminster council said it had received two complaints from members of the public and concerns were raised by the Health Protection Agency and Food Standards Agency.
Tory Westminster Councillor Brian Connell said: "Selling foodstuffs made from another person's bodily fluids can lead to viruses being passed on and, in this case, potentially hepatitis.
"As the local authority we will support small businesses and applaud innovative ideas wherever possible, but must protect the health of consumers."
Mr O'Connor, said: "We have had an amazing response - many women have come forward and offer to give us milk.
"You can buy alcohol and tobacco but not breast milk in Westminster.
"If Westminster bans this then I am going to begin a protest with mums who have already shown support."