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Prepare the mashed potatoes: Place the peeled and quartered potatoes in a large pot and cover with cold water by 1 inch. Add 1 teaspoon of salt. Bring to a boil over high heat, then reduce heat to medium-low and simmer for 15 to 20 minutes, or until the potatoes are fork-tender. Drain the potatoes thoroughly and return them to the hot pot. Add the warmed whole milk, melted unsalted butter, and 1/2 teaspoon of black pepper. Mash until smooth and creamy. Set aside.
Preheat the oven to 375°F (190°C).
Prepare the filling: Heat 1 tablespoon of olive oil in a large skillet or Dutch oven over medium-high heat. Add the chopped yellow onion, diced carrots, and diced celery. Sauté for 5 to 7 minutes, until the vegetables begin to soften. Add the minced garlic and cook for 1 minute more, until fragrant.
Add the ground beef to the skillet with the vegetables. Break it apart with a spoon and cook until browned, about 8 to 10 minutes. Drain any excess fat from the skillet.
Sprinkle 2 tablespoons of all-purpose flour over the beef and vegetables, stirring constantly for 1 minute to cook out the raw flour taste. Stir in 1 tablespoon of tomato paste and cook for another minute.
Gradually pour in 1 1/2 cups of beef broth, stirring constantly to prevent lumps. Add 1 tablespoon of Worcestershire sauce, 1 teaspoon of dried thyme, 1/2 teaspoon of crushed dried rosemary, and 1 bay leaf. Bring the mixture to a simmer, then reduce the heat to low and let it cook for 10 to 15 minutes, or until the sauce has thickened to a rich gravy consistency, stirring occasionally.
Stir in 1/2 cup of frozen peas and 1/2 cup of frozen corn. Season the filling with 1/2 teaspoon of salt and 1/4 teaspoon of black pepper. Remove the bay leaf before assembling.
Assemble the pie: Pour the hot meat and vegetable filling evenly into a 9x13 inch baking dish. Carefully spoon the mashed potato topping over the filling, spreading it evenly to cover the entire surface. You can create decorative ridges with a fork if desired.
Bake the shepherd's pie in the preheated oven for 25 to 30 minutes, or until the filling is bubbly around the edges and the potato topping is golden brown.
Remove the pie from the oven and let it rest for 5 to 10 minutes before serving. This allows the filling to set and prevents it from being too runny.

Prepare the mashed potatoes: Place the peeled and quartered potatoes in a large pot and cover with cold water by 1 inch. Add 1 teaspoon of salt. Bring to a boil over high heat, then reduce heat to medium-low and simmer for 15 to 20 minutes, or until the potatoes are fork-tender. Drain the potatoes thoroughly and return them to the hot pot. Add the warmed whole milk, melted unsalted butter, and 1/2 teaspoon of black pepper. Mash until smooth and creamy. Set aside.
Preheat the oven to 375°F (190°C).
Prepare the filling: Heat 1 tablespoon of olive oil in a large skillet or Dutch oven over medium-high heat. Add the chopped yellow onion, diced carrots, and diced celery. Sauté for 5 to 7 minutes, until the vegetables begin to soften. Add the minced garlic and cook for 1 minute more, until fragrant.
Add the ground beef to the skillet with the vegetables. Break it apart with a spoon and cook until browned, about 8 to 10 minutes. Drain any excess fat from the skillet.
Sprinkle 2 tablespoons of all-purpose flour over the beef and vegetables, stirring constantly for 1 minute to cook out the raw flour taste. Stir in 1 tablespoon of tomato paste and cook for another minute.
Gradually pour in 1 1/2 cups of beef broth, stirring constantly to prevent lumps. Add 1 tablespoon of Worcestershire sauce, 1 teaspoon of dried thyme, 1/2 teaspoon of crushed dried rosemary, and 1 bay leaf. Bring the mixture to a simmer, then reduce the heat to low and let it cook for 10 to 15 minutes, or until the sauce has thickened to a rich gravy consistency, stirring occasionally.
Stir in 1/2 cup of frozen peas and 1/2 cup of frozen corn. Season the filling with 1/2 teaspoon of salt and 1/4 teaspoon of black pepper. Remove the bay leaf before assembling.
Assemble the pie: Pour the hot meat and vegetable filling evenly into a 9x13 inch baking dish. Carefully spoon the mashed potato topping over the filling, spreading it evenly to cover the entire surface. You can create decorative ridges with a fork if desired.
Bake the shepherd's pie in the preheated oven for 25 to 30 minutes, or until the filling is bubbly around the edges and the potato topping is golden brown.
Remove the pie from the oven and let it rest for 5 to 10 minutes before serving. This allows the filling to set and prevents it from being too runny.