Abstract Geophysics-focused missions and improved geophysical data sets are critical for the future exploration of icy ocean worlds. Of particular interest is the exploration of the Galilean moon, Europa, and the Saturnian moons, Titan and Enceladus. These bodies likely have geologically active surfaces and may harbor habitable subsurface environments. Placing any candidate signatures for life in context requires further knowledge of the interior of these worlds. While the surfaces of these bodies have been mapped, their interiors remain poorly understood. Geophysical approaches such as geodesy, seismology, ice-penetrating radar and altimetry measurements, and electromagnetometry would provide critical information regarding the interior of these icy ocean worlds. The approaches described below would answer key science questions regarding ice shell and ocean dynamics, internal structure and interior layer thicknesses, near-surface structure, and how material from the deep interior might be exchanged with the surface. Here we outline the geophysical environments of Enceladus, Europa, and Titan; some outstanding science questions that remain to be addressed; and examples of the geophysical approaches that can provide the context to better understand icy ocean worlds.