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Internal waves drive ocean mixing and enhance the transport of heat, momentum and other tracers in shelf seas. We collected observations of mixing over a 30‐day period from three cross‐shore moorings placed on the 330, 200 and 150 m isobaths on the offshore side of a pelagic ridge on the Australian North West Shelf. The region is forced by energetic surface and internal tides, exhibits non‐linear internal waves, experiences flow‐topography interactions, and is subject to episodic intense wind events. This complex forcing drove energetic diapycnal mixing at all sites. We identified five dominant internal wave forcing categories: mode‐1 waves at low‐frequency (time scales from double the buoyancy period to 4 hr), mode‐1 waves at high‐frequency (HF) (time scales between the buoyancy period and double the buoyancy period), mode‐2 waves, internal bores, and internal hydraulic jumps. Overall, just 15% of mixing events accounted for 90% of the total observed heat flux over the record. Mixing during internal wave events accounted for as much as 50% of the total heat flux in some locations. Of the internal wave categories, HF mode‐1 waves were the most significant contributors to the total heat flux at all sites (∼20%). On the other hand, internal bores made significant contributions to mixing only at the 200 and 150 m moorings; they made no contribution to mixing at the 330 m mooring. At the shallowest mooring, the different internal wave categories all made similar contributions to the total flux, indicating an increasingly complicated relationship between the evolving internal wavefield and the mixing. Plain Language Summary: Internal waves propagate along the density gradients found beneath the ocean's surface layer, analogous to surface waves propagating along the sharp density gradient where air and water meet. These waves play an important role in the distribution of nutrients, heat, contaminants, and other tracers in the ocean, especially in coastal regions where the waves break. The density structure of the ocean, the tidal and wind forcing, and the seabed features result in many different types of internal waves, each of which travel and break differently. In this work, we examine the mixing caused by different types of internal waves as they travel up and over a subsurface ridge on the Australian North West Shelf. We found that most of the significant mixing resulted from relatively rare events, which often occurred during internal wave forcing events. The magnitude of mixing increased in shallower waters due to internal waves breaking and causing energetic turbulent flows. However, the wave types that were the most significant for mixing changed depending on the location on the shelf and the depth. High‐frequency internal waves were generally the most significant contributor to mixing. Internal bores, a class of waves moving upslope near the seabed, did dominate the total ocean mixing near‐bottom at some locations. Key Points: Energetic but short‐lived nonlinear internal wave events drove most of the vertical turbulent heat flux over the month‐long recordInternal wave events evolved over relatively short time scales and relatively short spatial scalesEnergetic internal wave events contribute significantly to mixing in shelf seas [ABSTRACT FROM AUTHOR]