The on-duty sergeant responded about 5:12 a.m. and found the goat enjoying a nice meal of cardboard boxes inside the Starbucks.
"The goat apparently needed a caffeine fix," police said in a Facebook post.
A second post later in the day revealed the goat had been reunited with her family.
The 11-year-old goat, named Milly, was found to live only two houses away from the plaza. Her owners said they are planning to build a fence to prevent Milly from escaping a second time.