Homes in ZIP Code 51351

• 

  

  

  /21

  $199,000 Under Contract

  • 4,253 Sq Ft

  901 Okoboji Ave, Milford, IA 51351

  Nice investment opportunity with 3 apartments and one main level space (currently used for "One More" bar, formerly the "Scoreboard" in Milford. Apartments have been refreshed with flooring and paint. There are (2) one bedroom apartments, and (1) 3 bedroom apartments. Properties are separately metered. Apartments are vacant, clean, and ready for renters. Owner of the bar intends to sell, and

  

  Aaron Jones

  RE/MAX Lakes Realty

  (712) 423-5179

  901 Okoboji Ave, Milford, IA 51351
• 

  

  

  /9

  $750 per month

  • 2 Beds
  • 1 Bath
  • 620 Sq Ft
  • Condo for Rent

  1206 S Ave, Milford, IA 51351

  Property Id: 958028Well kept 2 bedroom apartment in Milford Includes fridge stove and coin laundry No pets No smoking apply at Picture are representative photos only each unit is different please call kirb to view actual unit available

  1206 S Ave, Milford, IA 51351
• 

  

  

  /17

  $139,000 Sold Aug 29, 2025

  • 960 Sq Ft
  • $145/SF
  • 57 Days On Market

  • 2 Beds
  • 1 Bath
  • Built 2014

  3200 Okoboji Ave Unit 106, Milford, IA 51351

  Enjoy peaceful living in Okoboji Village North with this well-kept 2-bedroom, 1-bathroom home. A spacious 576 square foot heated garage offers room for vehicles, hobbies, or storage. Step out back to a private patio overlooking the pond, perfect for relaxing or entertaining. Just minutes from Arnolds Park, this property welcomes easy access to all that the Iowa Great Lakes area has to offer. This

  Brandon Visser Keller Williams Okoboji

  3200 Okoboji Ave Unit 106, Milford, IA 51351
• 

  

  

  /67

  Est $575,077 Not Listed For Sale

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

  2581 220th St, Milford, IA 51351

  2581 220th St, Milford, IA 51351
• 

  

  

  /22

  $899,000

  • 3 Beds
  • 2 Baths
  • 2,048 Sq Ft

  20540 232nd Ave, Milford, IA 51351

  Affordable lake living is here! Enjoy the main part of Lower Gar Lake just down the road from the Lower Gar State Recreation Park. This deep lot has a soft gentle slope from the road to the lake allowing for a zero entry experience onto the dock. The home has been lovingly maintained for years, and the landscaping is beautiful. The home offers 3 bedrooms (1 nonconforming), 2 bathrooms and 2

  

  Aaron Jones

  RE/MAX Lakes Realty

  (712) 581-4176

  20540 232nd Ave, Milford, IA 51351
• 

  

  /11

  $1,000 per month

  • 2 Beds
  • 1 Bath
  • Condo for Rent

  664 Terrace Park Blvd, Milford, IA 51351

  Ground floor, 2 bedroom 1 bathroom condo for rent. A great location, just down from the newly completed Terrace Park Beach on West Lake Okoboji. And right across the street from West O Brewing! Rent is $1,000/month plus gas and electric. 12 month lease preferred.

  Scott Hunter Hunter Real Estate

  664 Terrace Park Blvd, Milford, IA 51351
• 

  

  /33

  $2,900,000 Sold Aug 29, 2025

  • 3,478 Sq Ft
  • $834/SF
  • 68 Days On Market

  • 6 Beds
  • 3.5 Baths
  • Built 1990

  2212 Okoboji Blvd, Milford, IA 51351

  Bright, Crisp All Brick Home Just Off Brown's Bay! This West Okoboji Lake home has over 3400 SF of living space with 6 bedrooms, 4 bath, an attached stall plus detached 2-stall garage. Welcome home to tasteful modern decor and upgraded finishes throughout. Open concept living area complete with a fireplace; vaulted ceilings; and large windows that invite natural light and impeccable lake views.

  Peggy Bergh-Kuker Keller Williams Okoboji

  2212 Okoboji Blvd, Milford, IA 51351
• 

  

  /22

  Est $252,950 Not Listed For Sale

  • 3 Beds
  • 2.5 Baths
  • 1,392 Sq Ft

  808 Q Ave, Milford, IA 51351

  808 Q Ave, Milford, IA 51351
• 

  

  /29

  $465,000 Under Contract

  • 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

  

  Aaron Jones

  RE/MAX Lakes Realty

  (712) 526-3753

  520 33rd St, Milford, IA 51351
• 

  

  /15

  $1,700 per month

  • 2 Beds
  • 2 Baths
  • House for Rent

  2912 Sportsmans Dr, Milford, IA 51351

  Property Id: 1931002 Bedroom 2 Bathroom and 2 Stall Attached Garage duplex unit for Rent! These units have zero stairs and no basement to worry about getting wet. The kitchen, dining and living area are all open to each other. The Master Bedroom features a large Walk In Closet and Master Bathroom. Kitchen and laundry appliances are included. Landlord takes care of lawn care and most of

  2912 Sportsmans Dr, Milford, IA 51351
• 

  

  /23

  $420,000 Sold Aug 25, 2025

  • 2,052 Sq Ft
  • $205/SF
  • 29 Days On Market

  • 3 Beds
  • 2.5 Baths
  • Built 1996

  946 S Emerald Hills Dr, Arnolds Park, IA 51331

  FOUR STARS!!!****This beautiful home situated strategically on Emerald Hills Golf Course! Spacious open homes design...quality throughout, 3 bedrooms, 2.5 baths & you'll love the kitchen. Great location in the Lakes Region...near lakes and activities...yet you'll feel the blessings of privacy and awesome natural wide views of the course! Wonderful spacious deck! Expect to be impressed!

  Marilyn Strickland Hoien Realty

  946 S Emerald Hills Dr, Arnolds Park, IA 51331
• 

  

  /17

  Est $189,760 Not Listed For Sale

  • 2 Beds
  • 1 Bath
  • 1,080 Sq Ft

  905 7th St, Milford, IA 51351

  905 7th St, Milford, IA 51351
• 

  

  /43

  $499,000 Open House 10/03

  • 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

  

  Aaron Jones

  RE/MAX Lakes Realty

  (712) 227-7131

  605 202nd St, Milford, IA 51351
• 

  

  /39

  $662,500 Sold Aug 20, 2025

  • 2,900 Sq Ft
  • $228/SF
  • 90 Days On Market

  • 4 Beds
  • 2.5 Baths
  • Built 2025

  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

  Est $172,772 Not Listed For Sale

  • 2 Beds
  • 1 Bath
  • 1,104 Sq Ft

  702 10th St, Milford, IA 51351

  702 10th St, Milford, IA 51351
• 

  /2

  $1,812,000

  • Land
  • 151 Acres
  • $12,000 per Acre

  130th Avenue, Lake Park, IA 51347

  This farm offers a blend of productive farmland with excellent soils and high quality pasture ground. The 121.56 acres of cropland has an average CSR2 rating of 90.1 and features excellent soils including Sac, McCreath & Everly. The FSA corn base is 64.10 acres with a PLC Yield of 169 and the soybean base is 57.46 acres with a PLC Yield of 48.

  Ben Hollesen

  130th Avenue, Lake Park, IA 51347
• 

  

  /21

  $180,000 Sold Aug 19, 2025

  • 1,216 Sq Ft
  • $148/SF
  • 35 Days On Market

  • 3 Beds
  • 2 Baths
  • Built 2013

  3200 Okoboji Ave Unit 103, Milford, IA 51351

  Prime Okoboji location just in time for summer! Here's your chance at a fully remodeled 3-bedroom, 2-bathroom home in Okoboji Village North. This home features a newly constructed heated garage—ideal for vehicles (or a boat), storage, or hobbies—and a spacious outdoor patio perfect for relaxing or entertaining. This home has been meticulously updated and cared for, and is ready for Okoboji

  Brandon Visser Keller Williams Okoboji

  3200 Okoboji Ave Unit 103, Milford, IA 51351
• 

  

  /25

  Est $196,435 Not Listed For Sale

  • 4 Beds
  • 1 Bath
  • 888 Sq Ft

  704 10th St, Milford, IA 51351

  704 10th St, Milford, IA 51351
• 

  

  /20

  $1,100,000

  • 2 Beds
  • 2 Baths
  • 1,382 Sq Ft

  2422 Burr Oak Cir, Milford, IA 51351

  Harken back to a more simple time with this quintessential lake cottage. Is there anything more relaxing then sitting on the porch and staring out at the water? The open flow of the home makes a great gathering space. Located on 168' of lake frontage on the shores of Turtle Lake, this home is only a short distance to West Lake and the ideal place to kayak. With improvements planned for Turtle

  Kirk Stauss Stauss Realty

  2422 Burr Oak Cir, Milford, IA 51351
• 

  

  /27

  $438,000 Sold Aug 18, 2025

  • 1,583 Sq Ft
  • $277/SF
  • 497 Days On Market

  • 3 Beds
  • 2 Baths
  • Built 2022

  1223 Lower Loop, Arnolds Park, IA 51331

  Hidden Oak’s offers luxury 3 bedroom 2 bath duplex residences with community amenities that appeal to both primary and secondary home owners. Enjoy hassle free ownership with HOA provided snow & lawn care, plus amenities including a future walking trail, clubhouse & pool. The Hidden Oaks community is a quiet neighborhood just off the beaten path, yet close to golfing, walking & biking trails,

  Seth Hellinga Real Estate Unlimited

  1223 Lower Loop, Arnolds Park, IA 51331
• 

  

  /27

  Est $271,561 Not Listed For Sale

  • 4 Beds
  • 2 Baths
  • 2,184 Sq Ft

  905 13th St, Milford, IA 51351

  905 13th St, Milford, IA 51351
• 

  

  /25

  $2,399,000

  • 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
• 

  

  /4

  $185,000 Sold Aug 01, 2025

  • Land
  • 1.24 Acres
  • $149,374 per Acre

  • 5 Days On Market

  20442 & 20448 193rd St, Milford, IA 51351

  A golden commercial opportunity on Highway 86! This property offers substantial size with nearly 1.25 acres across two parcels, and unbeatable visibility and access with approx. 275 feet of direct highway frontage. This untapped potential is ideal for a variety of ventures!

  Ryan Maris Okoboji Realty

  20442 & 20448 193rd St, Milford, IA 51351
• 

  

  /59

  Est $645,192 Not Listed For Sale

  • 4 Beds
  • 4 Baths
  • 3,264 Sq Ft

  2186 230th Ave, Milford, IA 51351

  2186 230th Ave, 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
• 

  

  /41

  $293,500 Sold Jul 29, 2025

  • 2,181 Sq Ft
  • $135/SF
  • 32 Days On Market

  • 4 Beds
  • 2 Baths
  • Built 1938

  1106 Okoboji Ave, Milford, IA 51351

  Step inside this brick English Tudor home full of timeless charm and character. This 4 bedroom, 2 bath residence showcases original details paired with thoughtful updates. You'll fall in love with the built-ins, beautiful hardwood floors throughout, elegant crown molding, and abundant storage. Newer windows bring in plenty of natural light while adding efficiency and comfort. The furnace and air

  Janie Eick RE/MAX Lakes Realty

  1106 Okoboji Ave, Milford, IA 51351
• 

  

  /11

  Est $830,016 Not Listed For Sale

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

  34 Hill Dr, Milford, IA 51351

  34 Hill Dr, 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
• 

  

  /54

  $415,000 Sold Jul 29, 2025

  • 2,584 Sq Ft
  • $161/SF
  • 4 Days On Market

  • 3 Beds
  • 2.5 Baths
  • Built 1920

  2131 140th Ave, Milford, IA 51351

  Discover the perfect blend of country charm and modern updates on this beautifully remodeled and easy to care for acreage. This property is just over 2 acres in size, offering a spacious 3 bedroom, 3 bathroom home, attached double garage, and workshop. You will love the recent transformation featuring floor plan improvements, brand new kitchen cabinets and countertops, updated flooring, fresh

  Seth Hellinga Real Estate Unlimited

  2131 140th Ave, Milford, IA 51351
• 

  

  /23

  Est $246,277 Not Listed For Sale

  • 4 Beds
  • 2 Baths
  • 2,462 Sq Ft

  411 Okoboji Ave, Milford, IA 51351

  411 Okoboji Ave, Milford, IA 51351
• 

  

  /48

  $2,500,000

  • 4 Beds
  • 2.5 Baths
  • 3,043 Sq Ft

  2513 1st St, Arnolds Park, IA 51331

  Welcome to your dream getaway! This 4 bedroom, 3 bathroom home boasts 62' of pristine lakeshore, offering unparalleled access to the beautiful waters of West Lake Okoboji. Perfect for both relaxation and recreation, this property is designed for lakeside living at its finest. Enjoy generous living spaces and the open-concept layout is perfect for family gatherings and entertaining guests. With a

  Brooke Jones RE/MAX Lakes Realty

  2513 1st St, Arnolds Park, IA 51331
• 

  

  /29

  $692,500 Sold Jul 28, 2025

  • 2,209 Sq Ft
  • $313/SF
  • 16 Days On Market

  • 3 Beds
  • 2 Baths
  • Built 2013

  905 Emerald Pines Dr, Arnolds Park, IA 51331

  Walk inside this meticulous 3 bedroom and 2 bath patio home with over 2200 sq feet and you will feel at home! Enjoy your time in the four seasons sunroom or on the beautiful patio views just off Emerald Hill Golf Course. Don't wait and look today!

  Will Kretsinger RE/MAX Lakes Realty

  905 Emerald Pines Dr, Arnolds Park, IA 51331
• 

  

  /15

  Est $196,859 Not Listed For Sale

  • 3 Beds
  • 2.5 Baths
  • 2,086 Sq Ft

  1006 6th St, Milford, IA 51351

  1006 6th St, Milford, IA 51351
• 

  

  /49

  $749,900 Pending

  • 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
• 

  

  /23

  $3,100,000 Sold Jul 28, 2025

  • 3,620 Sq Ft
  • $856/SF
  • 28 Days On Market

  • 3 Beds
  • 2.5 Baths
  • Built 1997

  1807 Lakeshore Dr, Milford, IA 51351

  Okoboji charmed, definitely! This West Lake property is the ultimate expression of Cape Cod style, from the portal windows to the extraordinary coastal blue tilework to the laid-back covered porches. The custom-built home offers a symphony of lake views from sky-high windows and features a gorgeous low approach to 71 feet of shoreline. The home has 3 bedrooms, 2.5 bathrooms and a fantastic bonus

  Amy Maris Okoboji Realty

  1807 Lakeshore Dr, Milford, IA 51351
• 

  

  /34

  Est $258,806 Not Listed For Sale

  • 4 Beds
  • 2 Baths
  • 1,721 Sq Ft

  608 N Ave, Milford, IA 51351

  608 N Ave, Milford, IA 51351
• 

  

  /53

  $899,000 Under Contract

  • 6 Beds
  • 3 Baths
  • 3,498 Sq Ft

  21 Hill Dr, Milford, IA 51351

  Gorgeous contemporary 6-bedroom, 3-bathroom home surrounded by state-owned land and a lakefront park! With almost 3,500 sq. ft., this home offers plenty of space and it checks all the boxes. The open living, dining, and kitchen area features stunning views of Lower Gar Lake, while the back deck and private fire pit provides a peaceful setting with serene vistas. The lower level includes a

  Michael Jensen Jensen Real Estate

  21 Hill Dr, Milford, IA 51351
• 

  

  /31

  $415,000 Sold Jul 24, 2025

  • 1,583 Sq Ft
  • $262/SF
  • 555 Days On Market

  • 3 Beds
  • 2 Baths
  • Built 2022

  1217 Lower Loop, Arnolds Park, IA 51331

  Hidden Oak’s offers luxury 3 bedroom 2 bath duplex residences with community amenities that appeal to both primary and secondary home owners. Enjoy hassle free ownership with HOA provided snow & lawn care, plus amenities including a future walking trail, clubhouse & pool. The Hidden Oaks community is a quiet neighborhood just off the beaten path, yet close to golfing, walking & biking trails,

  Seth Hellinga Real Estate Unlimited

  1217 Lower Loop, Arnolds Park, IA 51331
• 

  

  /36

  Est $277,273 Not Listed For Sale

  • 4 Beds
  • 2 Baths
  • 2,080 Sq Ft

  1209 8th St, Milford, IA 51351

  1209 8th St, Milford, IA 51351
• 

  

  /53

  $799,000 Under Contract

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

  1505 Kirby St, Milford, IA 51351

  This property has it all! This comfortable 4-bedroom, 3-bathroom home includes a deeded hoist space on West Lake Okoboji and access to a private beach on Browns Bay and Terrace Park. The home has been lovingly maintained and upgraded. Tucked at the end of a quiet street and surrounded by HOA-owned land, the home offers exceptional privacy on a beautifully wooded 0.37-acre lot. Enjoy your

  Michael Jensen Jensen Real Estate

  1505 Kirby St, Milford, IA 51351

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