21

Milford, IA Homes for Sale with Garage

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  • /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
  • /53

    $799,900

    • 4 Beds
    • 3 Baths
    • 4,200 Sq Ft

    24 Ann St, Milford, IA 51351

    Just what you’ve been waiting for! Check out this beautiful 4-bedroom, 3-bath home tucked at the end of a desirable development. This property offers an incredible blend of comfort and functionality, featuring an outdoor cooking area perfect for entertaining and a spacious primary suite complete with its own private deck. Inside, you’ll love the added flexibility of a FROG (Finished Room Over

    Rob Hinn Hinn Real Estate

    24 Ann St, Milford, IA 51351
  • /45

    $1,925,000

    • 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
  • /74

    $449,900

    • 2 Beds
    • 1 Bath
    • 1,085 Sq Ft

    2202 Iowa Ave, Milford, IA 51351

    Tucked into a peaceful, park-like setting in Wahpeton, this year-round A-frame cabin has been meticulously maintained by its original owner & offers a rare combination of privacy, nature & location. Set on a spacious lot with mature trees, the property overlooks state-owned land across the road—ensuring no future development & preserving the serene surroundings. Inside, you’ll find a

    Tracey Radcliffe EXIT Realty Midwest

    2202 Iowa Ave, Milford, IA 51351
  • /32

    $1,919,000

    • 4 Beds
    • 3 Baths
    • 2,670 Sq Ft

    2714 Breezy Heights Dr, Milford, IA 51351

    Experience the pinnacle of lakefront living at 2714 Breezy Heights. This 4-bedroom, 3-bathroom retreat is where nostalgic charm meets modern reliability. Inside authentic pine finishes combine with oversized windows to create a timeless and panoramic view of the lake. Designed for maximum comfort and peace of mind, the home is equipped with dual systems: 2 AC units, 2 furnaces, and 2 water

    Peggy Bergh-Kuker Keller Williams Okoboji

    2714 Breezy Heights Dr, Milford, IA 51351
  • /47

    $2,950,000

    • 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
  • /45

    $639,000

    • 6 Beds
    • 4 Baths
    • 3,840 Sq Ft

    10 Airport Dr, Milford, IA 51351

    Beautifully renovated 5-bedroom, 4-bathroom home on Airport Drive, situated on over 1.6 acres. This property features both an attached two-car garage and a detached two-car garage, offering ample storage and workspace. Recent renovations include a completely updated kitchen with new appliances, a newly designed primary suite with a stunning primary bathroom with oversized tub, and new HVAC for

    Michael Jensen Jensen Real Estate

    10 Airport Dr, Milford, IA 51351
  • /55

    $1,437,500

    • 4 Beds
    • 4 Baths
    • 4,106 Sq Ft

    20560 232nd Ave, Milford, IA 51351

    Nestled on a quiet dead end street, this private retreat boasts over 110 feet of lakefront with lush landscape and beautiful mature oak trees. A gentle walkout lot to the lake, this might be the perfect spot you've been searching for. With a sprawling 4100 square feet on only two levels there is plenty of space for everyone to spread out. This home features 4 bedrooms and 4 full baths, an eat-in

    Suzanne Kern Real Estate Unlimited

    20560 232nd Ave, Milford, IA 51351
  • /37

    $595,000 Open Sun 12PM - 1PM

    • 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
  • /30

    $549,000

    • 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
  • /23

    $179,000

    • 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
  • /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
  • /60

    $715,000 Open House 4/18

    • 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
  • /92

    $3,199,000 Open House 5/09

    • 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
  • /44

    $699,000

    • 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
  • /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
  • /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
  • /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
  • /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
  • /41

    $1,875,000 New Construction

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

    20 Helen Ave, Milford, IA 51351

    Welcome to 20 Helen Avenue! This new construction home offers 6 bedrooms, 5 bathrooms, and a spacious 4 stall garage, all designed for 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 with incredible, uninterrupted views.With 72 feet of shoreline and direct access to the entire

    Aftin Groen-Bradley Real Estate Unlimited

    20 Helen Ave, Milford, 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

Home Trends in Milford, IA

Housing Trends

Median Sale Price
$400,000
Median Single Family Sale Price
$495,000
Median 2 Bedroom Sale Price
$147,000
Median 1 Bedroom Sale Price
$238,000
Average Price Per Sq Ft
$290
Number of Homes for Sale
21
Last 12 months Home Sales
61
Months of Supply
4.10
Median List Price
$519,250
Median Change From 1st List Price
3%
Median Home Sale Price YoY Change
24%
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