In this paper a multi-stage almost ideal demand system with censoring was estimated to assess Malawians’ demand for six dairy products (viz. fresh milk, powdered milk, margarine and butter, chambiko, yogurt and cheese). We found that the consumption of dairy products depended on whether the household was rural or urban, the region of the country (viz. North, Centre, South) and the household poverty status. The results also show that the demand for fresh and powdered milk, butter and margarine, cheese and yogurt was price inelastic, although the demand for chambiko was price elastic. Fresh milk and powdered milk were found to be gross substitutes and the consumption of milk was found to increase with household income.