There are several dairies in Sugar Land's history. During the Cunningham years a dairy was located near the intersection of Brooks and Guenther Streets. The Sartartia Dairy (today's New Territories) was very well-known and included a popular ice cream parlor.
Sugarland Industries had a town dairy (providing home delivery to Sugar Land residents) in the first half of the 20th century. It was located on the west side of Ulrich Street just north of its intersection with old Imperial Boulevard. The barn and other buildings were located south of Oyster Creek. The cows grazed north of the Creek, so the Industries built a wooden bridge for them to reach their buffet table.
If you've driven to Constellation Park from Ulrich, you've passed through the old dairy. Here's a Google map showing the area today.
Here's a photo of the dairy cow pen in the 1930s. You can see the bridge in the background. (Mayfield Park is on the right; the cow pasture is on the left; Constellation Park is a few hundred yards out of view on the left.)