Using the multipolar post-Minkowskian and matching formalism, we compute the gravitational wave form of inspiralling compact binaries moving in quasi-circular orbits at the second and a half post-Newtonian (2.5PN) approximation to general relativity. The inputs we use include notably the mass-type quadrupole at the 2.5PN order, the mass octupole and current quadrupole at the 2PN order, the mass 2(5)-pole and cur-rent 2(4)-pole at 1PN. The nonlinear hereditary terms come from the monopole-quadrupole multipole interactions or tails, present at the 1.5PN, 2PN and 2.5PN orders, and the quadrupole-quadrupole interaction arising at the 2.5PN level. In particular, the specific effect of nonlinear memory is computed using a simplified model of binary evolution in the past. The 'plus' and 'cross' wave polarizations at the 2.5PN order are obtained in ready-to-use form, extending the 2PN results calculated earlier by Blanchet, Iyer, Will and Wiseman.