The history of the Good Shepherd congregation can be traced to the celebration of the Centennial of St. Peter's Lutheran Church in Waterford, who made the formation of a congregation in East Troy their thank offering to the Lord. A group of families began holding worship services and Sunday School in 1962. A home was purchased on Main Street and converted to a church and education area.

Beginning with only a handful of members, the congregation was organized in 1964. That small family grew their first house of worship. In connection with the South Wisconsin District Lutheran Church-Missouri Synod, land was purchased and in 1969, a new worship structure was built on the corner of Hwy 20 and Townline Road.

As the community of East Troy grew, many families joined the congregation. In 1980 a Christian Day School was begun with Kindergarten and preschool. An education wing was added in 1984 and a multi-purpose room in 1990. In 2000 an additional was completed which expanded the school and added a new narthex and sanctuary.

The future of the congregation promises many exciting years of growth as the Lord guides His people in the fulfillment of the Great Commission.