Waitrose received a customer score of 82%, including five-star ratings for its customer service and its fresh produce.
Tesco was at the bottom of the table of the nine major supermarkets, scoring just 45% and receiving poor marks for its pricing, store environment, quality of fresh produce and customer service.
The Which? members rated the stores with scores based on customer satisfaction and the likelihood they would recommend it to a friend.
Discount supermarkets Aldi and Lidl came second and third with scores of 74% and 69% respectively, beating some of their bigger rivals such as Morrisons (59%), Sainsbury's (58%) and Asda (53%).
Aldi and Lidl were the only stores to get four-star ratings for pricing, with 97% of members saying they offer good value.
Fourth place went to Marks & Spencer with 68%, while The Co-operative scored just above Tesco with 48%.
Ocado took top spot in the online ranking with 81%, followed by Waitrose (74%), Sainsbury's (71%), Tesco (63%) and Asda (61%).
Which? executive director Richard Lloyd said: "In these tough economic times it's understandable that supermarkets scoring well for value for money are being ranked so highly in our league table."
A Tesco spokesman said: "Millions of customers shop regularly with Tesco and we are always looking at ways to improve their shopping experience. We have had an encouraging Christmas and New Year and are delivering further improvements this year."