A river with boats docked at a pier, surrounded by steep, forested mountains.

Milford RV Parks 2026

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Check prices for these dates

In two weeks
Sep 11 - Sep 13
In two months
Oct 23 - Oct 25
In three months
Nov 20 - Nov 22
In four months
Dec 18 - Dec 20
No exact matches found, but these alternatives could be just right

Recommended hotels in Milford

A hotel named "The Big O" with a stone facade and a flagpole with an American flag.

1. Okoboji Inn & Suites

Okoboji Inn & Suites
2.5 star property
Milford
9.2 out of 10, Wonderful, (572 reviews)
"Very clean, quiet place to stay when visiting Okoboji."
United States
Tony
$112 nightly
The price is $125
Aug 30 - Aug 31
Total with taxes and fees
Okoboji Inn & Suites
A two-story building with a covered porch, stone accents, and a green roof.

2. Rodeway Inn Milford

Rodeway Inn Milford
2.0 star property
Milford
7.6 out of 10, Good, (335 reviews)
"Friendly and helpful staff."
United States
Heidi
$95 nightly
The price is $106
Aug 31 - Sep 1
Total with taxes and fees
Rodeway Inn Milford
A single-story house with a yellow front door, a mailbox, and a small porch area.

3. Quiet 1 bedroom in Milford with King Bed

Quiet 1 bedroom in Milford with King Bed
Milford
9.8 out of 10, Exceptional, (129 reviews)
"Very clean and quiet. Very homey feeling."
United States
Rocky O.
Quiet 1 bedroom in Milford with King Bed
A green door with a keypad lock, a 'B' above it, and a 'stay safe' sign on the wall.

4. 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, (101 reviews)
"Great little spot very cozy and would love to back in the future"
United States
Miguel
$134 nightly
The price is $150
Sep 3 - Sep 4
Total with taxes and fees
Quick 5-min drive to West Lake from Milford
The exterior of Vintage Block Inn & Suites Office with a sign indicating it's open.

5. Vintage Block Inn & Suites

Vintage Block Inn & Suites
2.5 star property
Okoboji
9.0 out of 10, Wonderful, (643 reviews)
"I always have a great stay here."
United States
Joshua
$100 nightly
The price is $110
Sep 24 - Sep 25
Total with taxes and fees
Vintage Block Inn & Suites
A large hotel with multiple buildings, a parking lot, and a body of water in the background.

6. 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, (237 reviews)
"Great hotel would definitely stay there again"
United States
John
$137 nightly
The price is $153
Sep 21 - Sep 22
Total with taxes and fees
The Inn Hotel Lake Okoboji, an Ascend Collection Hotel
A Travelodge by Wyndham with a patio area, outdoor seating, and a landscaped garden.

7. 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, (247 reviews)
"Great staff and they had the air conditioning on before we checked in!"
Canada
Raye
$71 nightly
The price is $78
Sep 28 - Sep 29
Total with taxes and fees
Travelodge by Wyndham Spirit Lake/Okoboji
A multi-story hotel with a yellow facade, a covered entrance, and a parking lot.

8. Estherville Hotel & Suites

Estherville Hotel & Suites
2.5 star property
Estherville
9.2 out of 10, Wonderful, (666 reviews)
"The rooms were upgraded and pretty clean. Nice and close to the Lakes. Would stay again."
United States
Al
$108 nightly
The price is $121
Sep 20 - Sep 21
Total with taxes and fees
Estherville Hotel & Suites
A motel with a covered front porch, a brick entrance, and a patio area with outdoor seating.

9. Super 8 by Wyndham Estherville

Super 8 by Wyndham Estherville
2.0 star property
Estherville
7.6 out of 10, Good, (289 reviews)
"It was clean. Air worked well. Bed was comfortable enough. Small but adequate breakfast. Good value."
United States
Josh
$69 nightly
The price is $77
Sep 24 - Sep 25
Total with taxes and fees
Super 8 by Wyndham Estherville
A two-story house with a wooden staircase, a green door, and a patio with two chairs and a table.

10. 2-bedroom apartment in Estherville Iowa

2-bedroom apartment in Estherville Iowa
Estherville
10.0 out of 10, Exceptional, (8 reviews)
"This place was so clean and cute! Everything was great! Sherri is an accommodating host! Everything was stocked well and so clean and neat! Would stay here again! Thank you!"
United States
Bridget
$70 nightly
The price is $78
Sep 20 - Sep 21
Total with taxes and fees
2-bedroom apartment in Estherville Iowa
A two-story building with a green door and a wooden staircase leading to a balcony.

11. 2 Bedroom Apartment In Estherville-Steps to 2nd level

2 Bedroom Apartment In Estherville-Steps to 2nd level
Estherville
9.8 out of 10, Exceptional, (8 reviews)
"Very clean and comfortable place in a great location."
United States
Barbara P.
$114 nightly
The price is $127
Sep 7 - Sep 8
Total with taxes and fees
2 Bedroom Apartment In Estherville-Steps to 2nd level
A single-story house with a front porch, a small front yard, and a visible driveway.

12. 3-bedroom house in marvelous Estherville with AC, WiFi. Enjoy your stay

3-bedroom house in marvelous Estherville with AC, WiFi. Enjoy your stay
Estherville
10.0 out of 10, Exceptional, (14 reviews)
"Well cared for, clean, right in a central location! "
United States
Nicholas T.
$214 nightly
The price is $240
Sep 1 - Sep 2
Total with taxes and fees
3-bedroom house in marvelous Estherville with AC, WiFi. Enjoy your stay
A hotel with a covered entrance, a sign for 'Amerind Inn by Wyndham,' and a landscaped garden with colorful flowers.

13. AmericInn by Wyndham Okoboji

AmericInn by Wyndham Okoboji
3.0 star property
Okoboji
9.0 out of 10, Wonderful, (659 reviews)
"Everything was great. Beds were very comfortable as well"
United States
Brian
$120 nightly
The price is $132
Sep 7 - Sep 8
Total with taxes and fees
AmericInn by Wyndham Okoboji
A brick building with a sign reading "RAMADA" and a logo above it.

14. Ramada by Wyndham Spirit Lake/Okoboji

Ramada by Wyndham Spirit Lake/Okoboji
2.5 star property
Spirit Lake
7.8 out of 10, Good, (681 reviews)
"Everything was great!"
United States
Paul
$81 nightly
The price is $89
Sep 27 - Sep 28
Total with taxes and fees
Ramada by Wyndham Spirit Lake/Okoboji
A building with a covered outdoor seating area, surrounded by trees and a well-maintained lawn.

15. Lake Okoboji Resort & Conference Center

Lake Okoboji Resort & Conference Center
3.0 star property
Okoboji
7.8 out of 10, Good, (1,046 reviews)
"Great place to stay for the Holiday weekend"
United States
Angela
$96 nightly
The price is $106
Sep 6 - Sep 7
Total with taxes and fees
Lake Okoboji Resort & Conference Center
A multi-story building with a sign reading "The Waterfront."

16. Bridges Bay Resort

Bridges Bay Resort
3.5 star property
Arnolds Park
7.6 out of 10, Good, (715 reviews)
"Check in was easy. Staff was polite. Room was funny shaped but the view was great. will be back to check out property amenities"
United States
Juan
$103 nightly
The price is $115
Sep 20 - Sep 21
Total with taxes and fees
Bridges Bay Resort
A hotel with a covered entrance, a sign for 'Reston Inn & Suites', and a brick facade.

17. Reston Inn & Suites

Reston Inn & Suites
2.5 star property
Spencer
8.4 out of 10, Very Good, (924 reviews)
"Great place to stay!"
United States
Cassandra
$91 nightly
The price is $102
Aug 29 - Aug 30
Total with taxes and fees
Reston Inn & Suites
A two-story building with a balcony, a staircase, and a sign indicating it is a motel.

18. 2 bedrooms with queen beds. <br>This suite is on the 2nd floor and does require a guest to use steps.

2 bedrooms with queen beds. <br>This suite is on the 2nd floor and does require a guest to use steps.
Arnolds Park
10.0 out of 10, Exceptional, (25 reviews)
"I loved my stay at stay suites. Very clean, everything that was promised was there. No complaints. Will stay there again this summer if the availability is there."
United States
Chris
$178 nightly
The price is $199
Aug 30 - Aug 31
Total with taxes and fees
2 bedrooms with queen beds. <br>This suite is on the 2nd floor and does require a guest to use steps.
A Super 8 motel with a brick facade, multiple windows, and a parking lot with several cars.

19. Super 8 by Wyndham Jackson MN

Super 8 by Wyndham Jackson MN
2.0 star property
Jackson
8.0 out of 10, Very Good, (650 reviews)
"This is an excellent Super 8! Very clean, night staff was super friendly, breakfast choices were perfect. I highly recommend this location."
United States
Vicki
$89 nightly
The price is $99
Aug 30 - Aug 31
Total with taxes and fees
Super 8 by Wyndham Jackson MN
A two-story white house with a front porch and a brick pathway leading to the entrance.

20. The Oakwood Inn Okoboji - Adults Only

The Oakwood Inn Okoboji - Adults Only
3.5 star property
Okoboji
10.0 out of 10, Exceptional, (241 reviews)
"This place is like something out of a dream!!! The breakfasts were heavenly. Best scones and quiche I’ve ever had. The property itself was simply stunning. Garden waterfalls, fountains, flowers and lots of nature nearby the property. We cannot wait to come back."
United States
Naomi
$179 nightly
The price is $197
Sep 7 - Sep 8
Total with taxes and fees
The Oakwood Inn Okoboji - Adults Only
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.
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Top Milford Hotel Reviews

Vintage Block Inn & Suites

Vintage Block Inn & Suites

10/10 Excellent
"This updated one-story inn is unique in many ways. The rooms are small, but very clean and attractive. The staff is very helpful. The outdoor pool is great, as are the fire pits for cooler evenings. The breakfast is adequate, but nothing to write home about."
Sheridan 3-night trip
Posted 11 hours ago
Vintage Block Inn & Suites

Find out more about Milford

Milford RV Parks information

Number of reviews
7,329
Accommodation
1 RV Parks
Lowest Price
$77
Highest Price
$240

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, Lower Gar State Recreation Area, and Gull Point State Park.
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.

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