28

Milford, IA Homes for Sale

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  • /34

    $3,198,000

    • 4 Beds
    • 2 Baths
    • 2,544 Sq Ft

    3019 1st St, Milford, IA 51351

    An incredible 90 feet of lakeshore on the stretch of Sunset to Gilleys beach, this West Lake Gem is one of the finest properties on all of West Lake Okoboji. Simply a wonderful location with epic lake views within easy walking distance of the Arnolds Park Amusement Park. The home features 4 bedrooms, 2 bathrooms, a huge 3 season screened in porch and superior views throughout. There is room to

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 481-0358

    3019 1st St, Milford, IA 51351
  • /59

    $2,900,000

    • 4 Beds
    • 3 Baths
    • 2,918 Sq Ft

    1516 Lakeside Ave, Milford, IA 51351

    "West Lake Fun House"--Modern design meets West Lake Okoboji living in this one-of-a-kind Miller’s Bay home. Built in 2019 and designed with intention, this 4-bedroom, 3-bath residence offers nearly 3,000 finished square feet of architectural volume, lake views, and year-round comfort. The main level is anchored by a dramatic two-story great room with a wall of West Lake–facing windows, polished

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 576-7277

    1516 Lakeside Ave, Milford, IA 51351
  • /4

    $261,000

    • Land
    • 9.63 Acres
    • $27,103 per Acre

    2715 270th Ave, Milford, IA 51351

    Mature acreage near 2 paved roads. 9.63 acres on a corner lot with plenty of trees ready for you to build your dream home away from the hustle and bustle.

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 581-4984

    2715 270th Ave, Milford, IA 51351
  • /34

    $2,195,000

    • 5 Beds
    • 3 Baths
    • 2,334 Sq Ft

    2209 Lakeshore Dr, Milford, IA 51351

    Hello Summer... This is how to live and play at the beach... Discover the essence of Crescent beach living on one of the most coveted stretches of land. This lakefront residence embodies the coastal lifestyle with a expansive deck, abundant natural light and a panoramic lake vista. A spacious foyer introduces the home leading into the ground level open- concept design. Where the lakeview-

    Mary Lynn Ingvall Ingvall Real Estate Team

    2209 Lakeshore Dr, Milford, IA 51351
  • /77

    $1,299,900

    • 4 Beds
    • 4.5 Baths
    • 5,160 Sq Ft

    2173 230th St, Milford, IA 51351

    Location, Location! Have you been searching for some elbow room? Look no further! This stunning 4-bedroom, 5-bathroom home sits on just under 10 acres, less than a mile from town on a hard-surface road, with the serene Mill Creek running along the edge of the property. As you step through the front door, you're welcomed by a tall, grand foyer with sightlines straight through the living room to

    Rob Hinn Hinn Real Estate

    2173 230th St, Milford, IA 51351
  • /92

    $3,199,000

    • 4 Beds
    • 5 Baths
    • 4,136 Sq Ft

    1012 Hill St, Milford, IA 51351

    An Extraordinary West Lake Okoboji Waterfront Estate | 50’ of Premier Frontage in Miller’s Bay Experience refined lakefront living in this exceptional custom-built residence, perfectly positioned on 50 feet of pristine West Lake Okoboji shoreline in the coveted Miller’s Bay enclave of Wahpeton. Designed for discerning buyers, this four-bedroom, five-bath home offers a seamless blend of timeless

    Josh Schaben Keller Williams Okoboji

    1012 Hill St, Milford, IA 51351
  • /11

    $2,295,000

    • 4 Beds
    • 2 Baths
    • 1,793 Sq Ft

    2904 Okoboji Blvd, Milford, IA 51351

    This property is situated within the secure, gated community of Jones Beach and offers exciting potential for redevelopment. With 50 feet of frontage, 54 feet in the rear and WALK OUT approach it’s ready for you to create your very own lake house. Don’t miss out on this special location and the opportunity to bring your vision to life.

    Mary Lynn Ingvall Ingvall Real Estate Team

    2904 Okoboji Blvd, Milford, IA 51351
  • /35

    $2,399,000

    • 2 Beds
    • 1 Bath
    • 1,920 Sq Ft

    2310 Lakeside Ave, Milford, IA 51351

    Here’s a fantastic opportunity to own a home on historic Hiawatha Point with stunning views of West Lake Okoboji. This property offers 59.8 feet of shoreline with a gentle, low approach. Enjoy expansive views of the main body of the lake along with unbeatable views of the Amusement Park and fireworks right from your home. The home itself is a solid and well maintained 2-bedroom, 1-bath residence

    Michael Jensen Jensen Real Estate

    2310 Lakeside Ave, Milford, IA 51351
  • /3

    $275,000

    • Land
    • 0.53 Acre
    • $520,193 per Acre

    00 Ann St, Milford, IA 51351

    GUARANTEED LAKE ACCESS in South Shore Estates! Prime .53 acre lot offering dedicated lake access as part of the package. Plenty of space to build your dream home and add a shed or extra storage for all the lake toys. The association also features a park for even more outdoor enjoyment. Enjoy the freedom to design what fits your lifestyle with the water included. Lake access opportunities like

    Aftin Groen-Bradley Real Estate Unlimited

    00 Ann St, Milford, IA 51351
  • /46

    $555,000

    • 5 Beds
    • 3 Baths
    • 2,628 Sq Ft

    2308 225th Ave, Milford, IA 51351

    Discover your dream home nestled on 1.41 acres in the serene landscape of Old Town, just outside of Milford! This expansive property features 5 bedrooms and 3 bathrooms, making it perfect for families! Recent exterior updates include a brand new roof, siding, garage addition, landscaping and fresh paint, providing a modern touch to the classic charm. The impressive 50'x24' garage offers ample

    Gregory Sheeler RE/MAX Lakes Realty

    2308 225th Ave, Milford, IA 51351
  • /42

    $249,500

    • 3 Beds
    • 2 Baths
    • 2,392 Sq Ft

    1401 L Ave, Milford, IA 51351

    Here it is! Great 3 bedroom 2 bath home with a large family room in the lower level, 3 season room, large fenced in backyard, additional land beyond the fence, great size kitchen, newer furnace and water heater, Pool table stays with the property.

    Rob Hinn Hinn Real Estate

    1401 L Ave, Milford, IA 51351
  • /15

    $975,000

    • Land
    • 4.7 Acres
    • $207,447 per Acre

    00 P Ave, Milford, IA 51351

    Great commercial opportunity in Milford Iowa! This 4.7 acre parcel has been graded and is ready to build! It has AC (arterial commercial) zoning in place with utilities in the street. Seller is willing to sell smaller parcels that are full depth at $5 per sq ft.

    Michael Jensen Jensen Real Estate

    00 P Ave, Milford, IA 51351
  • /25

    $1,100,000

    • 24 Beds
    • 12 Baths
    • 6,882 Sq Ft

    2212 Okoboji Ave, Milford, IA 51351

    Positioned along Highway 71, this income-producing property presents an exceptional value opportunity with built-in visibility and proven performance. Recently divided, this offering includes exclusively the multifamily apartment portion. The property features 10 fully occupied apartment units backed by a strong and consistent rental history, delivering immediate, dependable cash flow. In

    Bridget Johnson NextHome at the Lakes

    2212 Okoboji Ave, Milford, IA 51351
  • /44

    $725,000

    • 6 Beds
    • 3.5 Baths
    • 4,010 Sq Ft

    2107 213th Ave, Milford, IA 51351

    A truly rare offering—an acreage property located within the city limits of West Okoboji. This exceptional home features 6 bedrooms (one non-conforming), 3.5 bathrooms, and more than 4,000 square feet of thoughtfully designed living space. The main level showcases an open-concept layout with high ceilings, a custom kitchen, and expansive windows that provide beautiful views of the private,

    Michael Jensen Jensen Real Estate

    2107 213th Ave, Milford, IA 51351
  • /2

    $225,000

    • Land
    • 0.33 Acre
    • $681,761 per Acre

    2201 Okoboji Ave, Milford, IA 51351

    Corner lot with Hwy 71 frontage. Middle of the new business area for Milford.

    Richard Ortman United Country Iowa Lakes Realty

    2201 Okoboji Ave, Milford, IA 51351
  • /23

    $189,000

    • 3 Beds
    • 2 Baths
    • 2,216 Sq Ft

    1411 8th St, Milford, IA 51351

    Here’s a fantastic opportunity to own a solid ranch-style home featuring 3 bedrooms (one nonconforming) and 2 full bathrooms. This home offers strong construction and an attached garage for added convenience and a full partially finished basement! Situated on a large, flat lot of over 1⁄4 acre with mature trees, the property provides plenty of outdoor space and privacy. It’s ideally located just

    Michael Jensen Jensen Real Estate

    1411 8th St, Milford, IA 51351
  • /37

    $615,000

    • 4 Beds
    • 2 Baths
    • 1,464 Sq Ft

    1304 Jerdee Ln, Milford, IA 51351

    Summer in Okoboji is right around the corner and this beautifully updated property on 75 feet of Wahpeton Canal frontage is ready to enjoy. The kitchen features all new stainless steel appliances and flows into a lakeside dining area, while the lakeside living room with fireplace overlooks the water and backyard. Recent improvements include new ceiling fans and lighting throughout, new window

    Janie Eick RE/MAX Lakes Realty

    1304 Jerdee Ln, Milford, IA 51351
  • /42

    $357,000

    • 7 Beds
    • 2 Baths
    • 2,496 Sq Ft

    1500 15th St, Milford, IA 51351

    Welcome to this spacious and beautifully maintained 6-bedroom, 2-bathroom home offering 2,496 sq ft of finished living space in a fantastic location! Just blocks away from Okoboji schools, parks, and ball diamonds, this home combines convenience, comfort, and style. Inside you’ll find a modern layout featuring a bright, open living area and a finished basement that adds valuable extra space for

    Katie Nissen RE/MAX Lakes Realty

    1500 15th St, Milford, IA 51351
  • /60

    $739,500

    • 4 Beds
    • 3.5 Baths
    • 4,822 Sq Ft

    2117 212th Street Loop, Milford, IA 51351

    This impressive original owner acreage home offers over 5,000 square feet of living space with 4 bedrooms plus an office and 4 bathrooms, all set on a 1.05 acre lot within city limits. An 8 foot front door welcomes you into a striking entry with 10 foot ceilings and pillars that open to a spacious living room with a fireplace. The home features a walk out basement with a huge living room and game

    Janie Eick RE/MAX Lakes Realty

    2117 212th Street Loop, Milford, IA 51351
  • /12

    $149,950

    • 2 Beds
    • 1 Bath
    • 1,120 Sq Ft

    806 28th St Unit 17, Milford, IA 51351

    Welcome to affordable living in the heart of the Iowa Great Lakes! This home is move-in ready and sits along a quiet loop. The large kitchen will provide a great home base for your family to be together. An enclosed porch provides another fun gathering space during warmer weather. The bedrooms and bathroom are generously sized. A garage and shed provide needed storage. As an added bonus, access

    Kirk Stauss Stauss Realty

    806 28th St Unit 17, Milford, IA 51351
  • /30

    $670,000

    • 4 Beds
    • 3 Baths
    • 2,510 Sq Ft

    520 34th St, Milford, IA 51351

    A perfect place to call home, right on the pond at Nature Trails. This four bedroom, three bathroom home showcases peaceful water views outside and beautiful custom wood detailing inside. The solidly crafted home has generous living space with up to 10 ft tall ceilings, a main-level primary suite and laundry, three fireplaces (two gas, one electric) and an unexpectedly private patio. The basement

    Ryan Maris Okoboji Realty

    520 34th St, Milford, IA 51351
  • /13

    $109,000

    • 2 Beds
    • 1 Bath
    • 648 Sq Ft

    1208 8th St, Milford, IA 51351

    New roof 11/06/25. Here is a 2 bedroom, 1 bath house located only 1/2 block from the elementary school and 3 blocks from the high school. The Library and post office just one block away. The price point makes the mortgage less than rent. Ready for the next owners.

    Richard Ortman United Country Iowa Lakes Realty

    1208 8th St, Milford, IA 51351
  • /30

    $575,000

    • 4 Beds
    • 2.5 Baths
    • 2,244 Sq Ft

    2229 195th Ave, Milford, IA 51351

    Looking for that special acreage in a country setting with tons of charm but also quick proximity to area amenities with a river view? This property is the rare and wonderful opportunity that you've been waiting for! The main floor has a nice and easy flow. You can take advantage of the fabulous views from one of the many windows. There is a private office area for convenience. The main level

    Kirk Stauss Stauss Realty

    2229 195th Ave, Milford, IA 51351
  • /3

    $207,500

    • Land
    • 0.99 Acre
    • $209,987 per Acre

    0 Okoboji Ave, Milford, IA 51351

    With Shouses permitted in AC zoning, This lot has the possibility to be spilt and have 2 lots & structures. Approximately 1 acre of Hwy 71 Commercial property, with 140' of Hwy 71 frontage. This property has been rezoned to AC Commercial (See AC Permitted uses in the Documents)as of April 24, 2023 and a new survey was completed on March 8,2023 and recorded. The property Zoning, has not been

    Doug Small Hinn Real Estate

    0 Okoboji Ave, Milford, IA 51351
  • /47

    $499,000

    • 5 Beds
    • 3 Baths
    • 3,300 Sq Ft

    3007 Bonnie Ln, Milford, IA 51351

    This Hunter Hills home has all the room you need! 3500 sq ft of living space featuring 5 bedrooms, 3 baths with large linen closets. Plus oversized, extended, and heated garage with plenty of storage space above. Open floor plan on main, with kitchen featuring slow close cabinets. Easy clean tip in windows throughout. You'll love the lower level with a home theatre with surround sound, wet bar,

    Jimy Mac Lenz Hinn Real Estate

    3007 Bonnie Ln, Milford, IA 51351
  • /2

    $2,995,000

    • Land
    • 2,575 Acres
    • $1,163 per Acre

    00 Lynch Ave, West Okoboji, IA 51351

    Discover 25.75 acres of prime land located within the city limits of West Okoboji. Ideally situated off Highways 71 and 86—next to the famed Okoboji Classic Car Museum and behind West O Brewery—this property offers incredible potential for future development. Featuring two convenient access points on Lynch Avenue, the site combines visibility, accessibility, and location in one exceptional

    Will Kretsinger RE/MAX Lakes Realty

    00 Lynch Ave, West Okoboji, IA 51351
  • /32

    $595,000

    • 3 Beds
    • 2 Baths
    • 1,885 Sq Ft

    1018 S Emerald Hills Dr, Arnolds Park, IA 51331

    1018 Emerald Hills Drive – Golfer’s Delight! Impeccably maintained patio home located directly on the 9th hole of the prestigious Emerald Hills Golf Course. This open and airy 3-bedroom, 2-bathroom duplex is loaded with upgrades and thoughtfully designed for effortless living. The oversized primary suite features a spacious walk-in closet conveniently connected to the laundry room, and a

    Gretchen Lolis Hinn Real Estate

    1018 S Emerald Hills Dr, Arnolds Park, IA 51331
  • /64

    $679,800

    • 3 Beds
    • 2.5 Baths
    • 3,214 Sq Ft

    269 202nd St, Arnolds Park, IA 51331

    Overlooking the 7th Green on "Emerald Hills the Lakes Area Premier Golf Course" is this Exceptional Twin Home that has been meticulously cared for by the Original Owner! "Special?" It certainly is with over 3,200 sq. ft featuring 10 foot ceilings, crown moldings, abundant large windows, candlelight white woodwork highlighting the wonderful craftsmanship. The main level features an Open Concept

    Keith Diekevers Hinn Real Estate

    269 202nd St, Arnolds Park, IA 51331

Why Live in Milford

Milford, IA, is a small community known as the gateway to the Iowa Great Lakes, with Highway 71 providing direct access to nearby lake points, resorts, and entertainment hubs. The city fosters a friendly atmosphere where residents enjoy a mix of historic and modern homes, including bungalows, ranches, American Foursquares, condos, duplexes, and manufactured homes. The Okoboji Community School District serves the area, with highly rated schools like Okoboji Elementary School and Okoboji Middle School. Local businesses and restaurants are primarily located along Highway 71, featuring favorites such as Perkins American Food Co., Mill Creek Restaurant and Lounge, and Oak Hill Outdoor. Milford Pioneer Theater offers a cozy spot for movie nights, while Little Sioux Orchard provides seasonal apple picking and fresh pies. Parks like Florence Park, Calkins Park, and Memorial Park offer various recreational activities, and wildlife areas such as Horseshoe Bend Wildlife Area are popular for hiking and camping. The community is connected by Highway 71 and State Route 86, with the nearest hospital 7 miles away in Spirit Lake and Sioux Falls Regional Airport 103 miles away. Annual events like RAGBRAI and Pioneer Days bring vibrant celebrations to the city, making Milford a lively place with plenty of things to do.

Frequently Asked Questions

What is the average home price in Milford, IA?
Homes for sale in Milford, IA have an average home price of $762,549.
How many homes have sold over the last 12 months in Milford, IA?
60 homes have sold in Milford, IA over the last 12 months.
What are the most popular zip codes in Milford, IA?
The most popular zip codes in Milford, IA include 51351, 51331, 51360, 51355 and 51301.
How much do you need to make to afford a house in Milford?
The median home price in Milford is $436,500. If you put a 20% down payment of $87,300 and had a 30-year fixed mortgage with an interest rate of 6.09%, your estimated principal and interest payment would be $2,110 a month plus property taxes, HOA fees, home insurance, PMI, and utilities. Using the 28% rule, you would need to make at least $90K a year to afford the median home price in Milford. Learn how much home you can afford with our Home Affordability Calculator.
How are the schools in Milford, IA?
Milford, IA has highly rated public and private schools. Some of the best schools in Milford based on Niche Grades are Okoboji Middle School, Okoboji High School and Okoboji Elementary School. Browse all the schools in Milford, IA to learn more.

Home Trends in Milford, IA

Housing Trends

Median Sale Price
$375,000
Median Single Family Sale Price
$453,750
Median 2 Bedroom Sale Price
$147,000
Median 1 Bedroom Sale Price
$238,000
Average Price Per Sq Ft
$273
Number of Homes for Sale
18
Last 12 months Home Sales
60
Months of Supply
3.60
Median List Price
$436,500
Median Change From 1st List Price
2%
Median Home Sale Price YoY Change
4%
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