Atty. Daniel Robert Peterson

Atty. Daniel Robert Peterson

Daniel Robert Peterson is a lawyer practicing employee benefits, estate planning, corporate & incorporation and 2 other areas of law. Daniel received a B.S. degree from University of Illinois in 2001, and has been licensed for 20 years.

Waukesha Waukesha 20 yrs experience 20 year
Call (262) 450-8003 Book Appointment

Profile Summary

About Daniel Robert Peterson at a glance

Daniel Robert Peterson is a Morgan Stanley Wealth Management based in Waukesha, Wisconsin. They have 20+ years of legal experience, licensed to practice since 2006. Their practice focuses on formation, estate planning, employment, real estate, and tax. Admitted to practice in Wisconsin (2006) and Illinois (2006). Educated at Marquette University (J.D., 2006) and University of Illinois (B.S., 2001). Active member of State Bar of Wisconsin. Serands clients in Waukesha, WI and the surrounding metropolitan area.

Verified attorney profile · Updated June 2026

About

  • Daniel Robert Peterson is a lawyer practicing employee benefits, estate planning, corporate & incorporation and 2 other areas of law
  • Daniel received a B.S. degree from University of Illinois in 2001, and has been licensed for 20 years
  • Daniel practices in Waukesha, WI

Practice Areas Explained

Daniel Robert Peterson's Areas of Practice

Each practice area below reflects the types of cases Daniel Robert Peterson handles, with a brief overview of what that area of law covers.

Business Formation

Daniel Robert Peterson is one of 35,584 formation attorneys indexed nationally. Browse formation attorneys in Wisconsin →

Estate Planning & Probate

An estate planning attorney prepares wills, trusts, powers of attorney, and healthcare directives to protect your family and pass on your assets.

Daniel Robert Peterson is one of 226,537 estate planning attorneys indexed nationally. Browse estate planning attorneys in Wisconsin →

Employment Law

Employment lawyers represent workers in wrongful termination, discrimination, harassment, wage & hour disputes, and severance negotiations.

Daniel Robert Peterson is one of 169,120 employment attorneys indexed nationally. Browse employment attorneys in Wisconsin →

Real Estate Law

Real estate attorneys handle home purchases, sales, commercial transactions, title disputes, and landlord-tenant matters.

Daniel Robert Peterson is one of 316,149 real estate attorneys indexed nationally. Browse real estate attorneys in Wisconsin →

Tax Law

Tax attorneys handle IRS audits, tax debt, international tax, estate planning, and tax court litigation.

Daniel Robert Peterson is one of 85,302 tax attorneys indexed nationally. Browse tax attorneys in Wisconsin →

Jurisdictional Context

Why local counsel matters in Wisconsin

Practicing law in Wisconsin. Legal matters in Wisconsin are governed by state-specific rules of civil and criminal procedure, statutes of limitations, and substantive law. Cases originating in Waukesha are typically filed in the local municipal court or the appropriate Wisconsin state district court, depending on subject matter and amount in controversy. An attorney licensed in Wisconsin brings working knowledge of local procedural deadlines, judicial practices in this andnue, and the substantive law that applies to cases brought here. Out-of-state attorneys generally cannot represent clients in Wisconsin courts without local counsel or pro hac vice admission.

Looking for additional Wisconsin attorneys? Browse all attorneys in Waukesha or all attorneys in Wisconsin.

Frequently Asked

Common questions about Daniel Robert Peterson

Where is Daniel Robert Peterson's law office located?
Daniel Robert Peterson's law practice is located in Waukesha, Wisconsin. You can contact the office directly through this profile page.
What practice areas does Daniel Robert Peterson handle?
Daniel Robert Peterson focuses on formation, estate planning, employment, real estate, tax. Each practice area listed reflects experience handling cases of that type in Wisconsin.
How long has Daniel Robert Peterson practiced law?
Daniel Robert Peterson has 20+ years of legal experience and has been licensed since 2006.
Where did Daniel Robert Peterson go to law school?
Daniel Robert Peterson earned their education at (J.D., 2006); (B.S., 2001).
How can I contact Daniel Robert Peterson for a consultation?
You can contact Daniel Robert Peterson directly through this profile page. Click "Ask the Attorney" to submit a question, or "Schedule a Consultation" to book a meeting. Most claimed-profile attorneys respond within one business day.

Education

J.D.
Marquette University
- 2006
B.S.
University of Illinois
- 2001

Bar Admissions

Wisconsin
Admitted: 2006
Illinois
Admitted: 2006

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