$163 Car Rental Milford, IA

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Top Car Deals in Milford

* Price found within the past 6 days. Click for updated prices.

Compact

Ford Focus
  • 5 people
  • Unlimited mileage
Sioux Falls, South Dakota, USA
Ford Focus

$163

includes taxes & fees
$124 per day
found 1 day ago
Compact Ford Focus

Midsize

Kia K4
  • 5 people
  • Unlimited mileage
Sioux Falls, South Dakota, USA
Kia K4

$167

includes taxes & fees
$127 per day
found 1 day ago
Midsize Kia K4

Economy Special

Managers Special
  • 4 people
  • Unlimited mileage
Sioux Falls, South Dakota, USA
Managers Special

$171

includes taxes & fees
$130 per day
found 1 day ago
Economy Special Managers Special

Fullsize

Nissan Altima
  • 5 people
  • Unlimited mileage
Sioux Falls, South Dakota, USA
Nissan Altima

$172

includes taxes & fees
$131 per day
found 1 day ago
Fullsize Nissan Altima

Standard

Kia K5
  • 5 people
  • Unlimited mileage
Sioux Falls, South Dakota, USA
Kia K5

$172

includes taxes & fees
$131 per day
found 1 day ago
Standard Kia K5

Mini Van

Chrysler Pacifica
  • 7 people
  • 400 free miles/total
Sioux Falls, South Dakota, USA
Chrysler Pacifica

$208

includes taxes & fees
$160 per day
found 1 day ago
Mini Van Chrysler Pacifica

Premium SUV

Chevrolet Suburban
  • 7 people
  • 400 free miles/total
Sioux Falls, South Dakota, USA
Chevrolet Suburban

$314

includes taxes & fees
$245 per day
found 1 day ago
Premium SUV Chevrolet Suburban

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What you need to know for your Milford car rental

Reasons to book a car rental in and around Milford

Renting a car in Milford offers the freedom and flexibility to explore the area at your own pace. Whether you're traveling alone, with family, or as a couple, having a rental car makes it easy to manage your luggage and plan your itinerary without the constraints of public transportation. You can take a short drive to Gull Point State Park for outdoor adventures or enjoy the scenic beauty at West Okoboji Lake, located just 4 miles away. If you're seeking family fun, Arnolds Park is only 3 miles from Milford and offers a variety of activities.

Additionally, a rental car allows you to conveniently visit nearby cities such as Okoboji and Spirit Lake, which are 4 miles and 7 miles away, respectively. Each of these destinations features beautiful lakes and parks that enhance your outdoor and romantic experiences. With a rental car, you can easily explore these attractions and return to Milford comfortably, making it an ideal choice for anyone looking to enjoy the natural beauty and recreational opportunities in the region.

Where to stay around Milford

  • Okoboji: Located 4 miles from Milford, Okoboji is an excellent choice for those seeking outdoor experiences and beautiful scenery. Popular attractions include West Okoboji Lake, ideal for a romantic beach getaway, and Arnolds Park, an amusement park perfect for family fun. Enjoy local dining options featuring wineries and restaurants, making it a well-rounded destination for relaxation and adventure.
  • Spirit Lake: Situated 7 miles from Milford, Spirit Lake offers a serene atmosphere with abundant outdoor activities. Key highlights include Sandbar Beach, suitable for a leisurely beach vacation, and Mini-Wakan State Park, which provides stunning scenery and adventure opportunities. Visitors can find a variety of dining options, including local wineries and restaurants, enhancing the overall experience.
  • Arnolds Park: Just 4 miles from Milford, Arnolds Park is another great option for travelers. With its charming lakeside views and recreational areas, it provides an ideal setting for outdoor enthusiasts. The amusement park and nearby West Okoboji Lake offer opportunities for family fun and romance. Enjoy the local food scene, which includes wineries and restaurants, making your stay enjoyable and convenient.

10 tips to save on your car rental in and around Milford

  1. Use filters to find the right car: Refine your search by specifying vehicle type and features. Whether you're looking for an SUV for added space, a convertible for summer drives, or an economy car for budget-friendly options, utilizing filters on Expedia will help you discover the best fit for your trip.
  2. Book in advance to help lower costs: Rental prices can vary based on demand, so it's advisable to secure your car well ahead of your travel dates. By booking early, you’re more likely to lock in lower rates and enjoy greater availability, especially during peak travel seasons.
  3. Consider a smaller car for savings: Compact cars are typically more affordable to rent and easier to maneuver and park in crowded areas. Mid-size vehicles offer a good compromise between cost, comfort, and fuel efficiency.
  4. Age guidelines: Drivers under 30 may encounter higher deposits or daily fees, and certain vehicle types—such as SUVs or premium models—might not be available. This may also apply to renters over 70 years old. Always verify the age requirements before making a reservation.
  5. Check fuel policies: Some rental agreements require a full-to-full fuel policy, meaning you'll need to return the car with a full tank to avoid extra fees. This is usually the most favorable option. Others may offer full-to-empty or prepaid fueling options, which are acceptable as well; just remember to return the car empty in those cases.
  6. Save on city and airport pickups: Picking up your rental car at airports often incurs a surcharge, but the added convenience might be worth the extra cost.
  7. Know your payment options: Most car rental companies only accept credit cards for payment.
  8. Understand your insurance coverage: Car rental insurance can help you avoid unexpected expenses and provides peace of mind in case something unforeseen occurs during your trip. It’s easy to add car rental insurance when booking through Expedia.
  9. Consider unlimited mileage: If you're planning lengthy road trips, look for rental options that offer unlimited mileage to prevent additional charges.
  10. Bring your driver's license and ID: A valid driver's license is necessary to rent a car.

Finding the cheapest car rentals in Milford

Using our Search Wizard

If the deals that are available on our page do not suit your needs, then enter Milford into the search wizard at the top of the page. We will compare all the best deals available for your car rental in Milford and provide you with a list of the cheapest options, with no added fees.

Renting a car in Milford

Pay at pickup is available, so you don’t have to worry about spending your money until you arrive at your vehicle in Milford. We partner with reliable partners that guarantee an enjoyable experience for solo travelers, couples, and families. Package your car with a flight or hotel to unlock even more savings from Expedia.

Expected prices in Milford

Prices are subject to seasonal change depending on when you decide to arrange your car rental but right now you can book from $163.

Flexibility & Cancellation

Most car suppliers offer penalty-free cancellations, so you don’t have to worry about losing money if your plans change. To cancel your booking log into your account through the Trips portal. Click manage booking and cancel this car. If you needed to alter your booking, then you can create a new one once you have canceled.

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Car classes available from Expedia in 2026

The classes of vehicles available will change depending on your chosen location.

Car Rental Information

Popular car types
SUV, Full Size, Economy
Car suppliers available
Our best deal of the day
$163
Our second best deal of the day
$167
Our third best deal of the day
$171
From the airport to your hotel
Airport Transportation
From popular domestic and international airports
Airport Car Rentals

Frequently asked questions

What are the best cheap car rental companies in Milford?
You can find cheap car rentals in Milford from $17 a day with Hertz's midsize suv. Alamo Rent A Car offers midsize SUVs and compact SUVs starting from $19 a day. Enterprise provides midsize SUVs starting from $22 a day and standard SUVs starting from $24 a day. Budget also has economy 2 or 4 door cars starting from $23 a day. Comparing these suppliers on Expedia can help you find a car rental deal in Milford that fits your budget. For more options, explore Economy Car Rentals in Milford.
What are the best luxury car companies in Milford?
For luxury car rental in Milford, you can find premium options through providers like Enterprise and Alamo Rent A Car, which both offer premium pickup regular cab vehicles starting from $39 a day. Budget also provides premium SUVs starting from $84 a day. These premium vehicles offer enhanced comfort and features for a more upscale travel experience in Milford. For more options, explore Luxury Car Rentals in Milford.
Can I rent a car one-way in Milford?
Yes, a one-way car rental in Milford is an excellent option for regional road trips, with prices starting from around $43 a day. Providers like Enterprise and Alamo Rent A Car may have flexible one-way policies, allowing you to pick up your vehicle in Milford and drop it off at a different location. This flexibility is ideal for travelers planning to explore beyond Milford without needing to return to their starting point. For more options, explore Standard Car Rentals in Milford.
Can I rent a car round-trip in Milford?
Milford is well suited to round-trip rentals, with options starting from $17 a day. Picking up and dropping off your rental car at the same location generally avoids one-way drop-off fees, making it a cost-effective choice for exploring areas near Milford. Popular nearby destinations for round-trip excursions include West Okoboji Lake, East Okoboji Lake, and Arnolds Park. Providers like Enterprise and Alamo Rent A Car offer wide round-trip availability, giving you plenty of choice for your travel plans. For more options, explore Fullsize Car Rentals in Milford.
What are the best car rentals in Milford?
Car rentals in Milford offer extensive vehicle variety to suit different travel needs. The most popular car classes available include:
  • Midsize SUV
  • Standard SUV
  • Special
  • Compact SUV
  • Fullsize 2 or 4 door
Most vehicles come with automatic transmission, and both automatic and all-wheel drive options are available. Families visiting attractions often prefer SUVs or minivans for space and comfort, while couples and solo travelers might find economy or compact cars more suitable for easy navigation and fuel efficiency. Choose a vehicle based on your passenger count, luggage needs, and planned activities. For more options, explore Minivan Car Rentals in Milford.
What are the best car rentals in Milford for solo travelers?
The best car rentals in Milford for solo travelers are economy and compact classes—small, easy to park, and fuel-efficient for one person exploring at their own pace:
  • Economy 2 or 4 door, starting from $23 a day — fits up to 5 people and up to 2 medium suitcases, nimble on city streets and simple to slot into small parking spaces
  • Compact 2 or 4 door, starting from $22 a day — fits up to 5 people and up to 3 medium suitcases with a little more room for luggage while staying fuel-efficient
Both comfortably fit a solo traveler plus a bag or two. If you are planning longer drives to spots like West Okoboji Lake, consider sizing up to a compact SUV for extra highway comfort, starting from $19 a day. For more options, explore Compact Car Rentals in Milford.
What are the best car rentals in Milford for couples?
The best car rentals in Milford for couples balance comfort and easy handling for two:
  • Midsize 2 or 4 door, starting from $24 a day — fits up to 5 people and up to 3 large suitcases with smooth cruising for two
  • Compact SUV, starting from $19 a day — fits up to 5 people and up to 3 medium suitcases with a higher ride for day trips around the region
Both give a couple comfortable seating and trunk space without being hard to park. For exploring scenic areas like Arnolds Park, these options provide a great balance of comfort and practicality. For more options, explore Midsize Car Rentals in Milford.
What are the best car rentals in Milford for families?
The best car rentals in Milford for families are the ones with room for everyone and their gear:
  • Midsize SUV, starting from $19 a day — seats up to 5 people with room for 3 large suitcases and a car seat
  • Mini passenger van, starting from $38 a day — seats up to 8 people with room for 6 large suitcases, ideal for larger families with strollers and full luggage
SUVs and minivans have ample room for the whole family plus car seats, strollers, and luggage, making them the most comfortable fit for trips around Milford. Alamo Rent A Car is a popular choice for families. Book 4+ weeks ahead, as family-sized vehicles can have lower availability during the June-August peak months, and consider adding GPS if you are new to the area. For more options, explore SUV Car Rentals in Milford.
Are there any car rental companies that provide electric cars in Milford?
Yes, Milford offers hybrid vehicle options from several car rental companies. Enterprise provides hybrid vehicles starting from $17 a day, and Alamo Rent A Car also offers hybrid options starting from $17 a day. These hybrid cars are widely available through Expedia, providing a more fuel-efficient choice for your travels in Milford.
What is the best time to book a car in Milford?
From January, prices in Milford are typically lower—rentals can start from as little as $19 a day during this period. July tends to be the busiest month, when high demand can lead to higher prices. During major holidays and special events, rates may also fluctuate. Demand climbs as travelers head to popular spots and activities such as:
  • West Okoboji Lake
  • East Okoboji Lake
  • Arnolds Park
  • Emerson Bay State Recreation Area
  • 'Boji Splash Indoor Waterpark Okoboji
Booking 3-4 weeks ahead can help with availability and pricing. Many bookings allow free cancellation 24+ hours before pickup—book early and rebook if rates drop.
What are the best car companies in Milford?
Car rentals in Milford are available from providers like Enterprise, Alamo Rent A Car, and Avis, offering vehicles suited to local roads and conditions. Enterprise has midsize SUVs starting from $22 a day and standard SUVs starting from $24 a day that are easy to park and fuel-efficient for city streets. Alamo Rent A Car offers midsize SUVs and compact SUVs, both starting from $19 a day, providing more space and stability for highways. Avis rounds out the choices with midsize SUVs starting from $29 a day and fullsize 2 or 4 door cars starting from $32 a day. Budget also offers economy 2 or 4 door cars starting from $23 a day and midsize 2 or 4 door cars starting from $24 a day. Choosing a midsize SUV or standard SUV can offer a good balance of comfort and capability for exploring Milford and its surroundings. For more options, explore Premium Car Rentals in Milford.
What are good day trip destinations from Milford by rental car?
Top day-trip destinations within easy reach from Milford include:
  • West Okoboji Lake, approximately 5 miles away
  • East Okoboji Lake, approximately 6 miles away
  • Arnolds Park, approximately 4 miles away
  • Emerson Bay State Recreation Area, approximately 3 miles away
  • Boji Splash Indoor Waterpark Okoboji, approximately 5 miles away
These distances are manageable for most car types, whether you choose a compact car for efficiency or an SUV for extra comfort. Booking a car with flexible cancellation policies can be beneficial if your day trip plans are weather-dependent, allowing you to adjust as needed. For more options, explore Convertible Car Rentals in Milford.
Are there any hidden fees when renting a car on Expedia?
Expedia aims to show the key price and important rental details clearly during booking, so you know what to expect before you reserve. In some cases, car rental companies may apply additional charges at pick-up or during the rental, such as security deposits, tolls, fuel charges, extra driver fees, or local requirements, so it's worth checking the supplier's rental terms before you book.
Are there any long-term car rentals in Milford?
Yes, there are several long-term car rental options available in Milford. Whether you're planning an extended holiday with the family, relocating temporarily, or simply need a vehicle for several weeks or months, many car rental providers offer flexible long-term rental plans tailored to your needs. Click on our long-term car rental deals page, enter your trip information and then book a ride that suits.
Do you need insurance to rent a car in Milford?
No, you don't need personal auto insurance to rent a car in most cases. You will, however, be required to purchase some insurance to cover the duration of the rental. Rental companies will offer this insurance when you rent the car. Certain personal car insurance policies can also be applied to rental cars, and travelers can even use non-owner car insurance if they rent cars often but don't have a car of their own. Additionally, some car rentals simply include rental car insurance within the price of the rental.
How much does it cost to rent a car in Milford?
Budget car rental in Milford can be easy to find, with prices based on rates seen within the past seven days from $163. To find some of the cheapest options, sort your search results by price and use filters to match your budget and travel needs. For added flexibility, it's also worth exploring one-way car rentals.
What are the top car rental deals in Milford?
No matter what kind of vehicle you're looking for, Expedia makes it easy to find a great car rental deal in Milford. The easiest way to get a good deal on a rental car is to use our filters. At the top of the filter list, you'll find a section featuring our best car rental offers. Check the filter for "Great Deal," and your search results will be filled with specials. Compare offers from trusted rental providers, choose the option that fits your trip, and book with confidence. For even more value, bundle your Milford car rental with a hotel or flight to unlock additional savings.
What do I need to rent a car in Milford?
To rent a car in Milford, a current driver's license and a credit card in the same name are essential. If you're opting out of the company's insurance plan, then you may also need proof of other coverage. Rules may differ between rental companies, so read through your policy.
What happens if I need to cancel my Milford car rental?
If you need to cancel your Milford car rental, read over the policy to be sure, but almost all prepaid rentals are eligible for a complete refund if you notify us at least six hours prior to the pickup time, though there may be some exclusions so check your itinerary for more information, or just click through to our Customer Service Portal.
Why should I rent a car in Milford with Expedia?
Booking your car rental on Expedia makes it easier to get more out of your trip from the start. With a wide choice of car rentals, you can compare prices, suppliers and deals all in one place, then bundle your car with a hotel which could help you save even more. Join our free One Key™ travel rewards program to instantly unlock additional savings.

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