Milford RV Parks 2026

  • Bundle & Save

    Get more, spend less whenever you see Bundle & Save deals

  • OneKeyCash

    Earn OneKeyCash on all your eligible bookings

  • Upfront pricing

    We are not like the others - we include taxes and fees

Check prices for these dates

In two weeks
May 22 - May 24
In two months
Jul 3 - Jul 5
In three months
Jul 31 - Aug 2
In four months
Aug 28 - Aug 30
No exact matches found, but these alternatives could be just right

Recommended hotels in Milford

Exterior

Okoboji Inn & Suites

Okoboji Inn & Suites
2.5 star property
Milford
9.2 out of 10, Wonderful, (536 reviews)
"Breakfast was good, staff courteous "
United States
Stephen
$92 nightly
The price is $103
May 10 - May 11
Total with taxes and fees
Okoboji Inn & Suites
Exterior

Rodeway Inn Milford

Rodeway Inn Milford
2.0 star property
Milford
7.6 out of 10, Good, (307 reviews)
"Room was right by the pool and kitchen. Place was very clean and well maintained."
United States
Amber
$89 nightly
The price is $100
May 7 - May 8
Total with taxes and fees
Rodeway Inn Milford
Smart TV, offices

Quick 5-min drive to West Lake from Milford

Quick 5-min drive to West Lake from Milford
Milford
9.8 out of 10, Exceptional, (89 reviews)
"Everything was wonderful!"
United States
Amanda D.
$114 nightly
The price is $128
May 10 - May 11
Total with taxes and fees
Quick 5-min drive to West Lake from Milford
Exterior

Quiet 1 bedroom in Milford with King Bed

Quiet 1 bedroom in Milford with King Bed
Milford
9.8 out of 10, Exceptional, (116 reviews)
"Repeat customer, very clean, cozy and all the necessities we need for our occasional stays. "
United States
Tasha G.
$222 nightly
The price is $249
Jun 1 - Jun 2
Total with taxes and fees
Quiet 1 bedroom in Milford with King Bed
Front of property - evening/night

Super 8 by Wyndham Jackson MN

Super 8 by Wyndham Jackson MN
2.0 star property
Jackson
8.0 out of 10, Very Good, (613 reviews)
"Nice clean property"
United States
Chad
$75 nightly
The price is $83
May 7 - May 8
Total with taxes and fees
Super 8 by Wyndham Jackson MN
Exterior

Estherville Hotel & Suites

Estherville Hotel & Suites
2.5 star property
Estherville
9.0 out of 10, Wonderful, (618 reviews)
"Good hotel overall"
United States
Darrly
$106 nightly
The price is $119
May 7 - May 8
Total with taxes and fees
Estherville Hotel & Suites
Front of property

Spencer Inn and Suites

Spencer Inn and Suites
2.5 star property
Spencer
8.4 out of 10, Very Good, (453 reviews)
"Great clean and affordable place to stay!"
United States
Elizabeth
$79 nightly
The price is $88
May 7 - May 8
Total with taxes and fees
Spencer Inn and Suites
Exterior detail

1 Bedroom Apartment In Estherville-Steps to 2nd level

1 Bedroom Apartment In Estherville-Steps to 2nd level
Estherville
9.4 out of 10, Exceptional, (3 reviews)
"Great place to stay. Close to everything "
United States
Sue T.
$111 nightly
The price is $124
May 17 - May 18
Total with taxes and fees
1 Bedroom Apartment In Estherville-Steps to 2nd level
Exterior

Travelodge by Wyndham Spirit Lake/Okoboji

Travelodge by Wyndham Spirit Lake/Okoboji
2.0 star property
Spirit Lake
8.2 out of 10, Very Good, (207 reviews)
"Comfortable room and clean."
United States
Jerry
$71 nightly
The price is $78
May 10 - May 11
Total with taxes and fees
Travelodge by Wyndham Spirit Lake/Okoboji
Exterior

The Inn Hotel Lake Okoboji, an Ascend Collection Hotel

The Inn Hotel Lake Okoboji, an Ascend Collection Hotel
3.5 star property
Arnolds Park
9.0 out of 10, Wonderful, (225 reviews)
"Parking so convenient, restaurant and bar is excellent."
United States
William
$139 nightly
The price is $156
May 8 - May 9
Total with taxes and fees
The Inn Hotel Lake Okoboji, an Ascend Collection Hotel
Building design

Reston Inn & Suites

Reston Inn & Suites
2.5 star property
Spencer
8.4 out of 10, Very Good, (851 reviews)
"The breakfast menu was fresh and the property did feel very secure and safe."
United States
Phyllis
$89 nightly
The price is $100
May 7 - May 8
Total with taxes and fees
Reston Inn & Suites
Indoor pool, seasonal outdoor pool, pool umbrellas, sun loungers

Lake Okoboji Resort & Conference Center

Lake Okoboji Resort & Conference Center
3.0 star property
Okoboji
7.8 out of 10, Good, (941 reviews)
"Wonderful place to stay! Staff is so friendly! Check in was super easy, and they were super friendly!"
United States
Breanna
$97 nightly
The price is $106
May 7 - May 8
Total with taxes and fees
Lake Okoboji Resort & Conference Center
Exterior

The Northwest Inn

The Northwest Inn
3.0 star property
Spencer
7.4 out of 10, Good, (33 reviews)
"The room was comfortable and the heat and air conditioner was easy to set at my preference. "
United States
Paul
$79 nightly
The price is $88
May 7 - May 8
Total with taxes and fees
The Northwest Inn
Property amenity

AmericInn by Wyndham Okoboji

AmericInn by Wyndham Okoboji
3.0 star property
Okoboji
9.0 out of 10, Wonderful, (602 reviews)
"Loved our stay at Americinn. All the staff was great, rooms spacious and clean. Shower was good, and bed a little to firm for me, but not a big deal. Great location, close to everything. Pool was great, had family over to swim as that was the reason we were there, visiting. Parking was good too. Would definitely recommend to anyone. What a great place!"
United States
Phillip
$93 nightly
The price is $102
May 17 - May 18
Total with taxes and fees
AmericInn by Wyndham Okoboji
Exterior

Super 8 by Wyndham Estherville

Super 8 by Wyndham Estherville
2.0 star property
Estherville
7.6 out of 10, Good, (275 reviews)
"The bed was super comfortable ! "
United States
Koleen
$85 nightly
The price is $95
May 7 - May 8
Total with taxes and fees
Super 8 by Wyndham Estherville
Exterior

Ramada by Wyndham Spirit Lake/Okoboji

Ramada by Wyndham Spirit Lake/Okoboji
2.5 star property
Spirit Lake
7.8 out of 10, Good, (646 reviews)
"Everything was excellent."
United States
Cheryl
$92 nightly
The price is $101
May 7 - May 8
Total with taxes and fees
Ramada by Wyndham Spirit Lake/Okoboji
Lunch and dinner served, alfresco dining

Bridges Bay Resort

Bridges Bay Resort
3.5 star property
Arnolds Park
7.8 out of 10, Good, (656 reviews)
"Wonderful stay"
United States
Megan
$105 nightly
The price is $117
May 12 - May 13
Total with taxes and fees
Bridges Bay Resort
Front of property

The Oakwood Inn Okoboji - Adults Only

The Oakwood Inn Okoboji - Adults Only
3.5 star property
Okoboji
10.0 out of 10, Exceptional, (225 reviews)
"Loved the place and the atmosphere."
United States
Maria
$179 nightly
The price is $197
May 7 - May 8
Total with taxes and fees
The Oakwood Inn Okoboji - Adults Only
Exterior

Cozy 2-bedroom suite with full kitchen, living room (couch, 2 chairs), dining table (2 stools), smart TV with cable. Perfect for short or long stays. This suite is one the 2nd level and requires guest to use stairs

Cozy 2-bedroom suite with full kitchen, living room (couch, 2 chairs), dining table (2 stools), smart TV with cable. Perfect for short or long stays. This suite is one the 2nd level and requires guest to use stairs
Arnolds Park
10.0 out of 10, Exceptional, (24 reviews)
"Great location host and price. Place had everything we needed "
United States
Eric L.
$164 nightly
The price is $183
May 8 - May 9
Total with taxes and fees
Cozy 2-bedroom suite with full kitchen, living room (couch, 2 chairs), dining table (2 stools), smart TV with cable. Perfect for short or long stays. This suite is one the 2nd level and requires guest to use stairs
Front of property

Vintage Block Inn & Suites

Vintage Block Inn & Suites
2.5 star property
Okoboji
8.8 out of 10, Excellent, (572 reviews)
"Great place to stay. We will definitely be staying there again extremely friendly staff loved it."
United States
Dana
$95 nightly
The price is $104
May 7 - May 8
Total with taxes and fees
Vintage Block Inn & Suites
Lowest nightly price found within the past 24 hours based on a 1 night stay for 2 adults. Prices and availability subject to change. Additional terms may apply.
View all properties
Save an average of 15% on thousands of hotels when you're signed in
Sign in
Sign up, it's free

Top Milford Hotel Reviews

Estherville Hotel & Suites

Estherville Hotel & Suites

10/10 Excellent
"The breakfast area was very clean, even closer to their closing time. I would have liked to see more fruit choices."
Faye 3-night trip
Posted 13 hours ago
Estherville Hotel & Suites

Find out more about Milford

Milford RV Parks information

Number of reviews
6,838
Accommodation
1 RV Parks
Lowest Price
$78
Highest Price
$249

Frequently asked questions

What makes RV parks in Milford unique?
If you're planning an RV trip to Milford, staying in an RV park is a good way to see the area. Travelers like this area for both its breweries and its coffeehouses. After you've found your spot at the RV park in Milford and settled in, check out the lakeside.
Where should I park my RV near Milford?
Next Door to the Fair RV Park is one of the top choices for your stay near Milford, featuring free self parking. If you've fallen in love with the idea of a home on wheels, you might enjoy the free WiFi available at this campground.
What should I see in Milford?
If you'd like to find some ways to explore Milford while taking advantage of your travel budget, this destination has lots to offer. Spots where you'll find the natural beauty on display include West Okoboji Lake. Other places not to be missed include Emerson Bay State Recreation Area, Gull Point State Park, and Lower Gar State Recreation Area.
What's it like to stay in an RV park in Milford?
Staying in an RV park is a fun and budget-friendly option if you're driving to Milford. This kind of accommodation provides you with a generous space to park your RV and stay the night in a scenic location. Lots of RV parks are close to hiking spots and lakes, which makes it easy to enjoy nature.

Explore a world of travel with Expedia