The highway's western terminus is at the Waukesha County line in Hales Corners.

The section of WIS 24 between the county line and 108th Street is Janesville Road.

[2] East of US 45/WIS 100, the highway turns northeasterly, junctioning with Interstate 43/Interstate 894 (I-43/I-894) in Greenfield.

Further northeast the route terminates at South 27th Street, which carries WIS 241.

[1] WIS 24 used to continue southwest through Waukesha, Racine and Walworth Counties to Wisconsin Highway 20 in East Troy, but was turned over to local control and redesignated as CTH-L in the late 1980s.