In spite of the fact that climate change adaptation plays an important role in improving global food security, little is known about its impact on household food security, particularly for small-scale dairy farmers. Using the food insecurity experience scale (FIES) and the food consumption score (FCS), this study provides insight on how climate change adaptation affects household food security. In South Rift, Kenya, 811 small-scale dairy farmers were interviewed for this cross-sectional study. Two-stage residual inclusion (2SRI) approach was employed to solve the endogeneity issue in the modeling of household food security in response to climate change adaptation. This was achieved by taking into account both observable and unobservable factors. According to the empirical results, climate change adaptation significantly improves household food security. As a result, small-scale dairy farmers should continue to adapt their farming practices to climate change in order to ensure their food security.