You can simply pass more arguments to summarise
:
df %>% group_by(grp) %>% summarise(mean(a), mean(b), mean(c), mean(d))
Source: local data frame [3 x 5]
grp mean(a) mean(b) mean(c) mean(d)
1 1 2.500000 3.500000 2.000000 3.0
2 2 3.800000 3.200000 3.200000 2.8
3 3 3.666667 3.333333 2.333333 3.0