We can change the app launcher icon using following approaches :

1. Native approach to change launcher icon:

Create the icons :
You can either create the icons urself or use a website like https://appicon.co/
 

Changing app launcher icon for Android

Replace the midmap* icons in android/app/arc/main/res folder with the generated ones in android folder .

Changing app launcher icon for iOS

Open the project(ios folder) in xcode. Then go to Runner > Assets.xcassets and delete the AppIcon item.

After that right-click and choose Import…. Choose the icon set that you just created.

2. Change launcher icon using flutter_launcher_icons package

(https://pub.dev/packages/flutter_launcher_icons)

Add the package to your pubspec.yaml file (within your Flutter project) to use it

dev_dependencies: 
  flutter_test:
    sdk: flutter
flutter_launcher_icons: "^0.8.0"
flutter_icons:
  image_path: "assets/icon/icon.png" 
  android: true
  ios: true

Run the package

flutter pub get
flutter pub run flutter_launcher_icons:main

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