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Milford, IA Homes for Sale

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  • /14

    $339,122

    • 3 Beds
    • 3 Baths
    • 2,331 Sq Ft

    2104 M Ave, Milford, IA 51351

    This meticulously maintained 3/3/2 townhome is located on a quiet street in a highly desirable area & is any homeowners dream. It comes fully furnished and ready to move in. Walk in and there are 2 bedrooms & 2 baths on the mail level with walkout deck. Beautiful lower level boasts another full living area, large bedroom, full bath, and lots of storage space. Ideal for entertaining and/or

    Agent Photo

    Nick Bjornstad

    Stauss Realty

    (712) 208-8742

    2104 M Ave, Milford, IA 51351
  • /29

    $465,000

    • 3 Beds
    • 2 Baths
    • 1,572 Sq Ft

    520 33rd St, Milford, IA 51351

    Beautiful 3 bed, 2 bath patio home at peaceful Nature Trails. This open-concept layout features over 1,500 sq ft, with a spacious kitchen, large island, and seamless flow to the living area. Enjoy pond views from the patio and a large backyard. Includes a mudroom with washer/dryer, 3-stall garage, and no steps for easy accessibility. Quiet location with scenic surroundings—move-in ready and built

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 526-3753

    520 33rd St, Milford, IA 51351
  • /43

    $529,800 New Construction

    • 4 Beds
    • 3.5 Baths
    • 2,283 Sq Ft

    605 202nd St, Milford, IA 51351

    Nestled in the highly sought-after Nature Trails community, this 4-bedroom, 4-bathroom home offers an unbeatable location and exceptional features. Just steps from the association pool, adjacent to a serene walking trail, and bordered by a state park on one side and a picturesque pond on the other, this newly constructed duplex is the perfect retreat. Inside, you'll find stunning vaulted wood

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 227-7131

    605 202nd St, Milford, IA 51351
  • /48

    $3,200,000

    • 5 Beds
    • 4.5 Baths
    • 4,203 Sq Ft

    3012 Lakeview St, Milford, IA 51351

    Okoboji memories are waiting to be made in this turnkey, all-inclusive West Lake property. The home meets every need, from easy entertaining to peaceful moments of relaxation, while capturing pristine lake views stretching across Emerson Bay all the way to the bridge. The generously sized interior impresses with an inviting, social-ready kitchen; a luxurious primary suite with spa-caliber bath

    Mickey Harrington Okoboji Realty

    3012 Lakeview St, Milford, IA 51351
  • /19

    $2,625,000

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

    2209 Lakeshore Dr, Milford, IA 51351

    From the step-free lake approach to the inviting living space capturing sparkling blue views, this West Lake property beams with Okoboji joy. The 5 bedroom, 3 bathroom home features 50 feet of lakeshore and a soothing blue horizon through light-filled walls. A host of updates covers the kitchen, upper-level bathrooms, including a huge tiled shower in the primary suite; windows, siding and roof;

    Mickey Harrington Okoboji Realty

    2209 Lakeshore Dr, Milford, IA 51351
  • /77

    $1,399,900

    • 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
  • /28

    $1,495,000 Open Sat 10AM - 11:30AM

    • 5 Beds
    • 4 Baths
    • 3,758 Sq Ft

    3300 Kuchel Trail, Milford, IA 51351

    Custom Built Patio Home with Shop in Scenic Nature Trails! 2 LOTS. Home has 3,758SF and Shop (40x60) 2,448SF. Open floor plan flows seamlessly through living room, kitchen and dining room. All heated floors. Kitchen island seats 8 comfortably. Chef-inspired culinary Wolf appliances and attractive knotty Alderwood cabinets extend to ceiling. Extra wide hallways. Walk-in pantry doubles as cement

    Peggy Bergh-Kuker Keller Williams Okoboji

    3300 Kuchel Trail, Milford, IA 51351
  • /44

    $2,095,000

    • 4 Beds
    • 3 Baths
    • 2,592 Sq Ft

    1001 Oak Place, Milford, IA 51351

    Welcome to your dream lakefront escape! This beautifully renovated 4-bedroom, 3-bathroom house blends modern comfort with timeless style. Set just steps from the water’s edge, enjoy serene lake views from both your upper deck and spacious lower-level patio—perfect for morning coffee, evening sunsets, and everything in between. Inside, the home boasts a fresh, modern aesthetic with high-end,

    George Carlson Keller Williams Okoboji

    1001 Oak Place, Milford, IA 51351
  • /31

    $1,600,000

    • 24 Beds
    • 12 Baths
    • 8,670 Sq Ft

    2212 Okoboji Ave, Milford, IA 51351

    Exceptional investment opportunity on over an acre along Highway 71 with access from P Avenue on the east side. This versatile property features 10 fully occupied apartments with a strong rental history, plus 7 furnished dorm-style rooms offering excellent potential for Airbnb or short-term rentals. A 1,200 sq ft storage building is divided into 5 units with room for future expansion, and a

    Bridget Johnson NextHome at the Lakes

    2212 Okoboji Ave, Milford, IA 51351
  • /8

    $75,000

    • Land
    • 1.33 Acres
    • $56,391 per Acre

    2203 193rd Ave, Milford, IA 51351

    Discover a rare opportunity to build on 1.33 acres in the exclusive West Sioux Estates. This gently sloping lot offers panoramic views of the Little Sioux River, framed by rolling, timber-lined hills to the east. Located just minutes from the vibrant Iowa Great Lakes, this peaceful setting is the ideal site for your custom home—quiet cul-de-sac, scenic views, and easy access to lakes, recreation,

    Bridget Johnson NextHome at the Lakes

    2203 193rd Ave, Milford, IA 51351
  • /31

    $405,000

    • 3 Beds
    • 2 Baths
    • 1,457 Sq Ft

    3360 Prairie Meadow Dr Unit B, Milford, IA 51351

    Find your home sweet home in this upgraded duplex at Nature Trails! The three bedroom, two bathroom retreat features an open, one-level design, a deluxe kitchen with granite countertops, and a fabulous covered patio overlooking the serene, nature-filled backyard. The oversized garage is heated, the association amenities include a clubhouse and pool, and the prime location is close to the bike

    Mickey Harrington Okoboji Realty

    3360 Prairie Meadow Dr Unit B, Milford, IA 51351
  • /34

    $315,000

    • 3 Beds
    • 2 Baths
    • 2,094 Sq Ft

    1605 G Ave, Milford, IA 51351

    Beautifully updated family home in Milford! This 3-bedroom, 2-bathroom home features high ceilings and a spacious, open-concept living, dining, and kitchen area. The kitchen boasts new countertops and a stylish new backsplash. Step outside to a private backyard with a large, three-level deck—no neighbors behind the property offer added privacy. Located on a quiet street near the baseball

    Michael Jensen Jensen Real Estate

    1605 G Ave, Milford, IA 51351
  • /20

    $159,900

    • 2 Beds
    • 1.5 Baths
    • 1,152 Sq Ft

    26 Westview Dr Unit 9, Milford, IA 51351

    Better Than the Rest... This updated two-level townhome is perfectly located in the heart of Milford and offers 2 bedrooms, 2 bathrooms, and a spacious double garage. Updated and super charming throughout. Move-in ready and waiting for you!

    Mary Lynn Ingvall Ingvall Real Estate Team

    26 Westview Dr Unit 9, Milford, IA 51351
  • /18

    $193,000

    • 2 Beds
    • 1 Bath
    • 1,198 Sq Ft

    1406 Okoboji Ave, Milford, IA 51351

    Welcome to this beautifully updated craftsman-style home featuring two bedrooms plus a dedicated office. Enjoy the charm of original hardwood floors, fresh paint, and custom blinds throughout. The kitchen and baths have been thoughtfully updated for modern comfort. An attached garage and spacious yard with a convenient side-street-access driveway complete this inviting property—blending classic

    Scott Reynolds EXIT Realty Midwest

    1406 Okoboji Ave, Milford, IA 51351
  • /29

    $319,900

    • 4 Beds
    • 3.5 Baths
    • 2,816 Sq Ft

    1007 L Ave, Milford, IA 51351

    Completely Remodeled & Move-In Ready – Like New! Step into this beautifully updated 4-bedroom, 3.5-bath home where style meets functionality. Thoughtfully designed with large windows throughout, this home is filled with natural light that enhances the open floor plan and modern finishes. The main level features 9-foot ceilings, an open-concept living area with a cozy fireplace, and a stunning

    Matt Lippon Jensen Real Estate

    1007 L Ave, Milford, IA 51351
  • /5

    $685,000

    • Land
    • 0.34 Acre
    • $1,991,098 per Acre

    16 Helen Ave, Milford, IA 51351

    A stunning Lower Gar building lot featuring 112’ of lakeshore and a step-free approach to the water. Beautiful blue-water views run up the lake and the DNR-owned land across the water provides a preserved natural sightline. Nestled at the end of a quiet cul-de-sac, this peaceful canvas has big potential for your Okoboji vision. The adjoining lot can also be purchased as a package deal.

    Amy Maris Okoboji Realty

    16 Helen Ave, Milford, IA 51351
  • /24

    $182,500

    • 3 Beds
    • 2 Baths
    • 1,153 Sq Ft

    3200 Okoboji Ave Unit 128, Milford, IA 51351

    Welcome to your perfect lakes area retreat! Nestled in a prime Okoboji location, this meticulously maintained 3-bedroom, 2-bathroom mobile home offers comfort and convenience just steps away from all the summertime excitement. Originally the model home, it boasts modern upgrades including granite countertops in the kitchen, robust 2x6 exterior wall construction, and enhanced insulation for

    Amanda Lippon Jensen Real Estate

    3200 Okoboji Ave Unit 128, Milford, IA 51351
  • /21

    $279,900

    • 4 Beds
    • 2.5 Baths
    • 2,852 Sq Ft

    1311 9th St, Milford, IA 51351

    Spacious 4 Bed, 3 Bath Home on a Large Corner Lot! This charming property features an expansive front porch, perfect for relaxing or entertaining. With 4 bedrooms and 3 bathrooms, there’s plenty of space for comfortable living—inside and out.

    Nick Steffes Integrity Real Estate

    1311 9th St, 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,

    Kirk Stauss Stauss Realty

    806 28th St Unit 17, Milford, IA 51351
  • /41

    $162,500

    • 3 Beds
    • 2 Baths
    • 1,896 Sq Ft

    806 28th St Unit 85, Milford, IA 51351

    Get into the Iowa great lakes with this affordable 3 bed, 2 bath unit in Okoboji Village! Over 1800 square ft on a triangular "peninsula" lot, street on both sides makes for a quiet retreat. Easy access sitting just south of Arnolds Park, and Terrace Park beach on West Lake Okoboji just a short drive away via car, golf cart, or UTV. Dollar General right across the highway, Kwik Star just up the

    Jimy Mac Lenz Hinn Real Estate

    806 28th St Unit 85, Milford, IA 51351
  • /49

    $749,900

    • 4 Beds
    • 4 Baths
    • 2,332 Sq Ft

    612 Prairie Meadow Dr, Milford, IA 51351

    Luxury Living in Scenic Nature Trails Revel in over 2,300 sq ft of stunning design nestled on a sprawling 1.2-acre lot in the highly sought-after Nature Trails community. This 4-bedroom, 4-bath home offers a bright, open-concept layout with endless natural light and thoughtful custom finishes throughout. Interior Highlights: Elegant Travertine flooring and Anderson windows Spacious open floor

    Nick Steffes Integrity Real Estate

    612 Prairie Meadow Dr, Milford, IA 51351
  • /43

    $149,500

    • 3 Beds
    • 1.5 Baths
    • 2,205 Sq Ft

    1012 K Ave, Milford, IA 51351

    Sitting on a corner lot, this home has lot's of potential! Lots of storage for vehicles, boats, toys with two garage sheds/work shops. 3 bed, 1 bath home will need some TLC. Priced to sell for handy persons or investors.

    Jimy Mac Lenz Hinn Real Estate

    1012 K Ave, Milford, IA 51351
  • /39

    $675,000

    • 4 Beds
    • 2.5 Baths
    • 2,900 Sq Ft

    250 28th St, Milford, IA 51351

    This brand-new construction home offers 4 spacious bedrooms and 2.5 bathrooms, all thoughtfully arranged on a single level with approximately 2,900 square feet of living space. The open-concept living, dining, and kitchen areas feature soaring ceilings, expansive windows, and a central fireplace that adds warmth and style. The primary suite includes a generous walk-in closet and a spa-inspired

    Michael Jensen Jensen Real Estate

    250 28th St, Milford, IA 51351
  • /18

    $354,500

    • 2 Beds
    • 2 Baths
    • 1,416 Sq Ft

    3337 Prairie Meadow Dr Unit A, Milford, IA 51351

    Tucked away in the serene Nature Trails community, this beautifully maintained 2-bedroom, 2-bathroom duplex offers the ideal balance of privacy and convenience. Enjoy effortless, single-level living with an open-concept layout, spacious bedrooms, a primary suite with a private bath, and a well-appointed kitchen perfect for entertaining or everyday comfort. Step outside to your private patio

    Sean Kondrath Real Estate Unlimited

    3337 Prairie Meadow Dr Unit A, Milford, IA 51351
  • /8

    $169,000

    • Land
    • 0.25 Acre
    • $676,000 per Acre

    0 Hill Dr, Milford, IA 51351

    Are you ready to build your dream home? Please take a look at this South Shore Estates property. Imagine your home on a quiet street with water views and in a great neighborhood. This property features easy access to a public boat ramp, bike trail, Arnolds Park Amusement Park, restaurants and shopping. It’s the best of both worlds! Don’t miss your opportunity to buy a great lot. There aren’t

    Kathy Determan Hinn Real Estate

    0 Hill Dr, Milford, IA 51351
  • /43

    $649,000

    • 9 Beds
    • 3 Baths
    • 3,000 Sq Ft

    1808 Edgewood Dr, Milford, IA 51351

    Just North of Crescent Beach and South of Gull Point sits the perfect retreat house just off West Lake Okoboji on the canal. This Home features 9 bedrooms (1 non-conforming), 3 bathrooms and well over 1/2 an acre of land. An impressive amount of space to offer for a vacation home with all the rooms needed for each of your guests, or even start your own AirBNB! This property comes with a dock

    Elizabeth Sandy RE/MAX Lakes Realty

    1808 Edgewood Dr, Milford, IA 51351
  • /26

    $405,000

    • 3 Beds
    • 2 Baths
    • 1,432 Sq Ft

    3212 Prairie Meadow Dr Unit A, Milford, IA 51351

    Get ready to be impressed!!! 3 bed 2 bath Duplex in the beautiful Nature Trails neighborhood! Gorgeous finishes! Awesome back yard views! Association pool! Set up your private viewing today!

    Charlie Leissler RE/MAX Lakes Realty

    3212 Prairie Meadow Dr Unit A, Milford, IA 51351
  • /10

    $2,200,000

    • Land
    • 5 Acres
    • $405,156 per Acre

    00 Hwy 71 N, Milford, IA 51351

    Rare Opportunity! This parcel is 5.43 Acres directly highway 71 on the North end of Milford Iowa. It has AC (arterial commercial) zoning and over 580ft of highway frontage! There are currently 6 double sided billboards on the property. This property is ready for a new development or subdivision.

    Michael Jensen Jensen Real Estate

    00 Hwy 71 N, Milford, IA 51351
  • /92

    $3,495,000

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

    1012 Hill St, Milford, IA 51351

    Stunning Custom 4-Bed, 5-Bath Home on 50' of West Lake Okoboji in Wahpeton, Iowa. Welcome to your dream home on the pristine shores of West Lake Okoboji. This custom-built masterpiece combines luxury, elegance, and exceptional craftsmanship. With four spacious bedrooms and five bathrooms, the home is designed to meet every need with style and comfort. Nestled on 50 feet of prime West Lake

    Jen Schaben Keller Williams Okoboji

    1012 Hill St, Milford, IA 51351
  • /3

    $215,220

    • Land
    • 0.99 Acre
    • $217,800 per Acre

    0 Okoboji Ave, Milford, IA 51351

    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 updated on the assessors page yet, see attached documents. 140' wide & an average of 308' long (which is

    Doug Small Hinn Real Estate

    0 Okoboji Ave, Milford, IA 51351
  • /15

    $975,000

    • Land
    • 4.70 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
  • /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
  • /57

    $1,975,000 New Construction

    • 6 Beds
    • 4.5 Baths
    • 4,157 Sq Ft

    20 Helen Ave, Milford, IA 51351

    Welcome to 20 Helen Avenue! Take a look at this new construction home on Lower Gar that’s all about easy, elevated lake living. Tucked at the end of a quiet cul-de-sac and facing protected DNR land, you’ll feel like you’ve found your own peaceful corner of the Lakes without being far from the action. With 72 feet of shoreline and direct access to the entire chain of lakes, this location offers

    Aftin Groen Real Estate Unlimited

    20 Helen Ave, Milford, IA 51351
  • /42

    $489,500 New Construction

    • 3 Beds
    • 2 Baths
    • 1,870 Sq Ft

    2801 Bonnie Ln, Milford, IA 51351

    Welcome to easy, one-level living in this new construction ranch located in the Hunter Hills community of Milford! This well designed 3-bedroom, 2-bath home offers 1,870 sq ft of open living space ideal for both everyday living and entertaining. Step inside to an open-concept layout, where the modern kitchen takes center stage. Enjoy quartz countertops, a large center island, and a generous

    Seth Hellinga Real Estate Unlimited

    2801 Bonnie Ln, Milford, IA 51351
  • /26

    $4,795,000 New Construction

    • 5 Beds
    • 6 Baths
    • 5,210 Sq Ft

    2411 Lakeshore Dr, Milford, IA 51351

    Easy access to West Lake on this low bank! New Construction on very desirable Eagle Point with Full Lake Views from every room in this 5 Bed Contemporary Showpiece. 95' of owned lakeshore with over 200' of Lakeshore privacy! Property includes a private back lot with a second dock to Turtle Lake for fishing and smaller lake fun! Two Primary Suites, one on each level; convenience of Laundry on each

    Peggy Bergh-Kuker Keller Williams Okoboji

    2411 Lakeshore Dr, Milford, IA 51351
  • /69

    $749,000

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

    269 202nd St, Arnolds Park, IA 51331

    This Exceptional Twin Home sits on a picturesque lot overlooking the 7th green on the Lakes area's Premier Golf Course Emerald Hills and 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

    Keith Diekevers Hinn Real Estate

    269 202nd St, Arnolds Park, IA 51331
  • /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

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 $753,208.
Are home prices dropping in Milford?
Yes, home prices in Milford are down 12% in the last 12 months.
How many homes have sold over the last 12 months in Milford, IA?
58 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 51347.
How much do you need to make to afford a house in Milford?
The median home price in Milford is $459,000. If you put a 20% down payment of $91,800 and had a 30-year fixed mortgage with an interest rate of 6.72%, your estimated principal and interest payment would be $2,370 a month plus property taxes, HOA fees, home insurance, PMI, and utilities. Using the 28% rule, you would need to make at least $102K a year to afford the median home price in Milford.
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 Elementary School, Okoboji Middle School and Okoboji High School. Browse all the schools in Milford, IA to learn more.

Home Trends in Milford, IA

Housing Trends

Median Sale Price
$459,000
Median Single Family Sale Price
$459,000
Median 2 Bedroom Sale Price
$135,750
Average Price Per Sq Ft
$252
Number of Homes for Sale
5
Last 12 months Home Sales
58
Months of Supply
1.00
Median List Price
$459,000
Median Change From 1st List Price
2%
Median Home Sale Price YoY Change
16%
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