Note: As defined by the US Census Bureau, a city's official boundaries often extend miles beyond the city itself and may even cross county lines. As such, several thousand US cities officially exist in two or more counties (and therefore appear on multiple counties' lists of cities.)
City | Rank | 2024 Pop. | 2020 Pop. | Change | Density (/mi²) | Area (mi²) | Type |
|---|---|---|---|---|---|---|---|
| Waukesha | 1 | 70,200 | 71,183 | -0.35% | 2,750 | 25.5 | City |
| Brookfield | 2 | 42,017 | 41,483 | 0.32% | 1,538 | 27.3 | City |
| New Berlin | 3 | 40,186 | 40,482 | -0.18% | 1,103 | 36.4 | City |
| Menomonee Falls | 4 | 40,069 | 38,593 | 0.93% | 1,218 | 32.9 | Village |
| Muskego | 5 | 25,388 | 25,084 | 0.3% | 803 | 31.6 | City |
| Oconomowoc | 6 | 18,827 | 18,245 | 0.78% | 1,601 | 11.8 | City |
| Pewaukee | 7 | 16,412 | 15,936 | 0.73% | 840 | 19.5 | City |
| Sussex | 8 | 12,337 | 11,635 | 1.44% | 1,463 | 8.4 | Village |
| Hartland | 9 | 10,251 | 9,507 | 1.85% | 1,877 | 5.5 | Village |
| Mukwonago | 10 | 8,566 | 8,268 | 0.87% | 1,066 | 8.0 | Village |
| Waukesha | 11 | 8,490 | 8,466 | 0.07% | 412 | 20.6 | Village |
| Pewaukee | 12 | 8,180 | 8,239 | -0.18% | 1,986 | 4.1 | Village |
| Delafield | 13 | 7,206 | 7,193 | 0.04% | 766 | 9.4 | City |
| Elm Grove | 14 | 6,249 | 6,517 | -1.06% | 1,916 | 3.3 | Village |
| Summit | 15 | 5,441 | 4,824 | 2.91% | 263 | 20.7 | Village |
| Okauchee Lake | 16 | 4,735 | 4,373 | 0.49% | 1,268 | 3.7 | CDP |
| Merton | 17 | 3,602 | 3,457 | 1.01% | 1,086 | 3.3 | Village |
| Wales | 18 | 2,971 | 2,875 | 0.81% | 921 | 3.2 | Village |
| Lannon | 19 | 2,598 | 1,366 | 13.45% | 1,051 | 2.5 | Village |
| Dousman | 20 | 2,414 | 2,429 | -0.17% | 810 | 3.0 | Village |
| North Prairie | 21 | 2,196 | 2,203 | -0.09% | 798 | 2.8 | Village |
| Eagle | 22 | 2,168 | 2,078 | 1.03% | 1,559 | 1.4 | Village |
| Butler | 23 | 1,759 | 1,786 | -0.4% | 2,249 | 0.8 | Village |
| Big Bend | 24 | 1,501 | 1,499 | 0% | 462 | 3.3 | Village |
| Nashotah | 25 | 1,307 | 1,319 | -0.23% | 803 | 1.6 | Village |
| North Lake | 26 | 244 | 300 | 7.96% | 1,021 | 0.2 | CDP |
Note: City markers shown outside the county boundary mean that a part of the city extends into this county, but is primarily located in an adjacent county.
Waukesha is the largest city in Waukesha County.
North Lake is the smallest city in Waukesha County.
There are 26 cities in Waukesha County, Wisconsin.