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

Milford Vacation Rentals

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Check prices for these dates

In two weeks
Jul 24 - Jul 26
In two months
Sep 4 - Sep 6
In three months
Oct 2 - Oct 4
In four months
Oct 30 - Nov 1

Our top choices for Milford vacation rentals

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, (97 reviews)
"Was exactly what we needed for a long weekend!"
United States
Jessica
$154 nightly
The price is $172
Jul 12 - Jul 13
Total with taxes and fees
Quick 5-min drive to West Lake from Milford
Terrace/patio

The Canal Cottages off West Lake Okoboji

The Canal Cottages off West Lake Okoboji
Milford
8.8 out of 10, Excellent, (3 reviews)
"Great little cottage"
United States
Ben P.
$702 nightly
The price is $747
Aug 2 - Aug 3
Total with taxes and fees
The Canal Cottages off West Lake Okoboji
Smart TV

Quiet 1 bedroom in Milford with King Bed

Quiet 1 bedroom in Milford with King Bed
Milford
9.8 out of 10, Exceptional, (124 reviews)
$154 nightly
The price is $172
Jul 12 - Jul 13
Total with taxes and fees
Quiet 1 bedroom in Milford with King Bed
Private kitchen

2-bedroom apartment in Estherville Iowa

2-bedroom apartment in Estherville Iowa
Estherville
10.0 out of 10, Exceptional, (3 reviews)
"Family friendly affordable price"
United States
Lorena
$79 nightly
The price is $89
Jul 12 - Jul 13
Total with taxes and fees
2-bedroom apartment in Estherville Iowa
Smart TV

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, (10 reviews)
"Well cared for, clean, right in a central location! "
United States
Nicholas T.
$193 nightly
The price is $216
Jul 11 - Jul 12
Total with taxes and fees
3-bedroom house in marvelous Estherville with AC, WiFi. Enjoy your stay
Interior

Poolside Retreat at Bridges Bay

Poolside Retreat at Bridges Bay
Arnolds Park
10.0 out of 10, Exceptional, (3 reviews)
"Very nice house. Everything was clean and well stocked. "
United States
Bill A.
Poolside Retreat at Bridges Bay
Interior

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, (21 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
$264 nightly
The price is $295
Jul 11 - Jul 12
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.
Beach

Cute little cottage in the best location.

Cute little cottage in the best location.
Arnolds Park
9.6 out of 10, Exceptional, (8 reviews)
"Great place to stay for our vacation."
United States
Lynn F.
$226 nightly
The price is $253
Jul 12 - Jul 13
Total with taxes and fees
Cute little cottage in the best location.
Beach

1400 sf 3 bedrooms in Arnolds Park-King bed<br>This suite is on the 3rd floor and does require a guest to use the steps.

1400 sf 3 bedrooms in Arnolds Park-King bed<br>This suite is on the 3rd floor and does require a guest to use the steps.
Arnolds Park
10.0 out of 10, Exceptional, (23 reviews)
"Very clean, great location, quick responses from host. Great stay!"
United States
Janean S.
$303 nightly
The price is $339
Jul 13 - Jul 14
Total with taxes and fees
1400 sf 3 bedrooms in Arnolds Park-King bed<br>This suite is on the 3rd floor and does require a guest to use the steps.
Smart TV

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, (7 reviews)
"Sherri's place was definitely a home away from home for us! Comfortable furnishings, full kitchen for making meals and great water pressure in the shower."
United States
Melissa
$120 nightly
The price is $134
Aug 3 - Aug 4
Total with taxes and fees
2 Bedroom Apartment In Estherville-Steps to 2nd level
TV

West Lake Okoboji Scout Cottage

West Lake Okoboji Scout Cottage
Arnolds Park
9.6 out of 10, Exceptional, (10 reviews)
"Nice clean cottage style. perfect for a couples stay. location is perfect for walking distance to many attractions including arnold's park and much more!"
United States
Stephanie K.
$429 nightly
The price is $480
Jul 16 - Jul 17
Total with taxes and fees
West Lake Okoboji Scout Cottage
Indoor pool

The Hook Wine and Sinker House at Bridges Bay Resort

The Hook Wine and Sinker House at Bridges Bay Resort
Arnolds Park
9.8 out of 10, Exceptional, (13 reviews)
"Great house & great location! We really enjoyed our stay & will be back next year."
United States
Angie S.
$582 nightly
The price is $622
Jul 12 - Jul 13
Total with taxes and fees
The Hook Wine and Sinker House at Bridges Bay Resort
1 bedroom, free WiFi, bed sheets

Artsy Tartsy Bunk House off West Lake Okoboji

Artsy Tartsy Bunk House off West Lake Okoboji
Arnolds Park
7.4 out of 10, Good, (9 reviews)
"Walking distance to many local attractions."
United States
Tracy F.
$359 nightly
The price is $386
Jul 13 - Jul 14
Total with taxes and fees
Artsy Tartsy Bunk House off West Lake Okoboji
Children's area

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, (25 reviews)
"Great location host and price. Place had everything we needed "
United States
Eric L.
$293 nightly
The price is $328
Jul 19 - Jul 20
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
Interior

1 Bedroom Suite-Stay Suites-Hwy 71 Arnolds Park <br>This suite is on the 2nd floor and does require the guest to do stairs.

1 Bedroom Suite-Stay Suites-Hwy 71 Arnolds Park <br>This suite is on the 2nd floor and does require the guest to do stairs.
Arnolds Park
9.6 out of 10, Exceptional, (25 reviews)
"Very good location, clean, great amenities."
United States
Jill H.
$267 nightly
The price is $299
Jul 15 - Jul 16
Total with taxes and fees
1 Bedroom Suite-Stay Suites-Hwy 71 Arnolds Park <br>This suite is on the 2nd floor and does require the guest to do stairs.
Beach

Fantastic Location-Roof Top Patio (shared) and King Bed<br>This suite is on the 2nd level and requires guest to use stairs.

Fantastic Location-Roof Top Patio (shared) and King Bed<br>This suite is on the 2nd level and requires guest to use stairs.
Arnolds Park
10.0 out of 10, Exceptional, (31 reviews)
"Nice place for family time"
United States
Cheryl Groen G.
$311 nightly
The price is $349
Jul 14 - Jul 15
Total with taxes and fees
Fantastic Location-Roof Top Patio (shared) and King Bed<br>This suite is on the 2nd level and requires guest to use stairs.
Marina

Cozy Condo by Boardwalk, Restaurants, Golf

Cozy Condo by Boardwalk, Restaurants, Golf
Arnolds Park
9.8 out of 10, Exceptional, (21 reviews)
"Great location. Very nice place to stay. "
United States
Lewis S.
$515 nightly
The price is $576
Jul 13 - Jul 14
Total with taxes and fees
Cozy Condo by Boardwalk, Restaurants, Golf
Indoor pool, outdoor pool

Beautiful 1500+ sq ft cabin with outdoor pool just steps off the patio

Beautiful 1500+ sq ft cabin with outdoor pool just steps off the patio
ARNOLDS PARK
10.0 out of 10, Exceptional, (83 reviews)
"Great location, and beautiful property."
United States
Julie P.
$571 nightly
The price is $640
Jul 19 - Jul 20
Total with taxes and fees
Beautiful 1500+ sq ft cabin with outdoor pool just steps off the patio
Beach

316 Hwy 71 -Bottom Floor Sleeps 10

316 Hwy 71 -Bottom Floor Sleeps 10
Arnolds Park
10.0 out of 10, Exceptional, (21 reviews)
"Beautiful accommodation & super convenient location."
United States
La O.
$455 nightly
The price is $510
Jul 12 - Jul 13
Total with taxes and fees
316 Hwy 71 -Bottom Floor Sleeps 10
Beach

2 Bedroom along Highway 71<br>This suite is on the 2nd level and requires guests to use stairs.

2 Bedroom along Highway 71<br>This suite is on the 2nd level and requires guests to use stairs.
Arnolds Park
9.2 out of 10, Wonderful, (22 reviews)
"Great location. Host was accommodating and helpful. "
United States
Christine R.
$221 nightly
The price is $247
Jul 12 - Jul 13
Total with taxes and fees
2 Bedroom along Highway 71<br>This suite is on the 2nd level and requires guests to use stairs.
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

Estherville Hotel & Suites

Estherville Hotel & Suites

10/10 Excellent
"Love the renovated rooms staff, cleanliness, hot tub was a plus, travelled with fam and our little dog"
Jesse Craig 1-night trip
Posted 4 hours ago
Estherville Hotel & Suites

Find out more about Milford

Everything you need to know about Milford vacation rentals

Whether you’re excited for the perfect family vacation, a romantic getaway for two, or the ultimate city break, we’ve got the Milford vacation rental for you. At Expedia, you can take your pick from private vacation homes, apartments, condos, resorts, cabins, villas, motels. The list goes on, and on …and on.

There’s just as wide a choice of amenities, too. Maybe you’re dreaming of your own pool, long evenings in a hot tub, or watching the kids laugh through the day at a waterpark. Maybe you just want a quiet retreat in a pet-friendly apartment. Well, we can help you find it. Hunt out the perfect Milford vacation rental for you by simply entering your desired dates. Then check your favorite filters to narrow down your search.

Milford vacation rentals: An excellent choice for every season

Whenever you want to travel, a warm welcome awaits you in Milford. If you’re looking for a little peace, consider booking during the quieter low season months. For more hustle and bustle, you may prefer to visit Milford in high season.

Prices vary throughout the year. Your chosen location, property type, and amenities will impact the cost of your trip, too. The selection of properties we have chosen for you start as low as $172 per night. Rates vary depending on your travel dates, location, and amenities so make a search and you might find even better deals!

How to find incredible deals on Milford rentals

At Expedia, we put the best Milford vacation rentals in one place. All you need to do is take your pick. And as we offer book now, pay later options, as well as free cancellation on some properties, you can plan your trip with total peace of mind. You’ll always find a great deal with Expedia.

To find some top Milford rental deals, enter your travel dates, and sort your search results by price. You can also filter by budget, so you only see accommodation in your ballpark. Next, add any filters you want—and just like that, you’ve built your dream Milford vacation.

If you’re looking for a little inspiration, browse our latest incredible offers, or use the map to view all accommodation in and around Milford. And to unlock even more fantastic deals, bundle your accommodation, flights, and car rental together to save and book with Expedia in complete confidence.

Explore a world of travel with Expedia

Frequently asked questions

Can I find a vacation rental in Milford?

Yes, you can find vacation rentals close to top local attractions in Milford, or you can select a more remote option if you'd like a relaxing place to stay. Nature enthusiasts will enjoy the lakeside in Milford. Make sure you have time to check out the breweries and coffeehouses during your trip.

What's the top vacation rental that Milford has to offer?

Lower Gar Family Fun- Private Dock, 6 bedrooms, Close to boat Ramp: Visitors give good reviews to this Milford vacation home rental, which is located on a lake and has a patio, a selection of games, and a barbecue grill to put you at ease in your new surroundings. Kitchen amenities include a dishwasher, a fridge, and a stovetop.

How many vacation rentals are there in Milford?

Choose from 15 Expedia vacation rentals in Milford for a memorable vacation.

What’s there to see and do in Milford?

While exploring the area, visit family-friendly sights like Arnolds Park Amusement Park, or get outside and enjoy nature at West Okoboji Lake. Other places in town to visit include Gull Point State Park and Emerson Bay State Recreation Area.

What’s a vacation rental in Milford like?

A vacation rental is a private property where you can stay for a few weeks or just a few days in Milford. Vacation rentals offer amenities like WiFi and washers and dryers so you'll feel right at home. If you're concerned about cleanliness, vacation rentals can offer a sense of seclusion away from public hotel elevators and lobbies packed with people while still allowing you the experience of travel. You'll also get more space in a vacation rental than in a standard hotel, which is another reason why a vacation rental is a popular option for a family trip or a small group gathering.