In 1963, the Town of Muskego elected their last Constable, William E. Bohlman.  He remained as the Town Constable until 1967 when city officials organized the Muskego Police Department.

On December 15th, 1967, at 12:01 AM, the City of Muskego Police Department began operations. Chief Ervin W. Kraus directed the Department, comprised of three sergeants and seven patrolmen. Civilian employees carried out dispatch duties. During opening ceremonies, the key to the police department was thrown away, symbolizing the department’s accessibility to the public twenty-four hours a day.

The first Muskego police station was an old, two story, seven-room house. The kitchen served as a combination roll call room, court clerk’s office, and storage area. In addition to this, the kitchen also served as an employee lunchroom and a prisoner holding area. Since there was no actual detention area in the station, prisoners were handcuffed to the "kitchen table". Luckily, there were seldom more than four prisoners in custody at the same time, so the four kitchen legs were usually enough.

Chief Kraus planned for a new state-of-the art facility from day one. His dream came true on June 5th, 1978, when the department moved into a new facility at the present site. Chief Kraus was only able to enjoy his efforts for a mere three months. On August 19th, 1978, Chief Kraus died of a heart attack. Chief Richard F. Scholz then served until 1985, leaving to pursue another career.

In May 1985, John R. Johnson became the Muskego Police Department’s third Chief of Police. Chief Johnson retired in October 2006, when he was elected mayor of the City of Muskego.

In December, 2006, Paul P. Geiszler became the department’s fourth Chief of Police. On December 31st, 2012, after thirty two years of service to the City of Muskego, Chief Geiszler retired.

On January 1st, 2013, Craig A. Moser became the Muskego Police Department’s fifth Chief of Police. Chief Moser was instrumental in the planning for the new police department that opened in July 2019. On January 6th, 2017, after thirty one years of service to the City of Muskego, Chief Moser retired.

On January 7th, 2017, Richard Rens became the Muskego Police Department’s sixth Chief of Police.  Chief Rens was instrumental with the construction of the new police department.  He also passionate about his officer's well being by creating a wellness program.  On April 16th, 2021, after thirty years of service to the City of Muskego, Chief Rens retired.

On April 16th, 2021, Stephen Westphal became the Muskego Police Department's seventh Chief of Police.