Ongoing and future space missions aim to identify potentially habitable planets in our Solar System and beyond. Planetary habitability is determined not only by a planets current stellar insolation and atmospheric properties, but also by the evolutionary history of its climate. It has been suggested that icy planets and moons become habitable after their initial ice shield melts as their host stars brighten. Here we show from global climate model simulations that a habitable state is not achieved in the climatic evolution of those icy planets and moons that possess an inactive carbonate-silicate cycle and low concentrations of greenhouse gases. Examples for such planetary bodies are the icy moons Europa and Enceladus, and certain icy exoplanets orbiting G and F stars. We find that the stellar fluxes that are required to overcome a planets initial snowball state are so large that they lead to significant water loss and preclude a habitable planet. Specifically, they exceed the moist greenhouse limit, at which water vapour accumulates at high altitudes where it can readily escape, or the runaway greenhouse limit, at which the strength of the greenhouse increases until the oceans boil away. We suggest that some icy planetary bodies may transition directly to a moist or runaway greenhouse without passing through a habitable Earth-like state.