IceCube is a cubic-kilometer Cherenkov detector in the deep ice at the geographic South Pole. The dominant event yield is produced by penetrating atmospheric muons with energies above several 100 GeV. Due to its large detector volume, IceCube provides unique opportunities to study atmospheric muons with large statistics in detail. Measurements of the energy spectrum and the lateral separation distribution of muons offer insights into hadronic interactions during the air shower development and can be used to test hadronic models. We will present an overview of various measurements of atmospheric muons in IceCube, including the energy spectrum of muons between 10 TeV and 1 PeV. This is used to derive an estimate of the prompt contribution of muons, originating from the decay of heavy (mainly charmed) hadrons and unflavored mesons. We will also present measurements of the lateral separation distributions of TeV muons between 150m and 450m for several initial cosmic ray energies between 1 PeV and 16 PeV. Finally, the angular distribution of atmospheric muons in IceCube will be discussed.