This paper presents the results of fundamental investigations on the inception and propagation of corona discharge on an ice surface stressed with a standard lightning impulse voltage. High-speed photography and photomultiplier techniques were used to observe and record the propagation of the streamers. The effects of several experimental parameters such as freezing water conductivity and HV rod electrode radius on the streamer inception parameters were investigated. Moreover, time to first streamer, inception voltage and corresponding field, as well as streamer propagation velocity and charge deposited by a streamer on ice surface were measured. The results are discussed and emphases are laid on the main factors influencing the development of positive streamers on ice surface.Index Terms -Outdoor insulation, atmospheric icing, ice surface, high-speed camera, streamer inception, streamer propagation velocity, surface charge, flashover.