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
Sep 25 - Sep 27
In two months
Nov 6 - Nov 8
In three months
Dec 4 - Dec 6
In four months
Jan 1 - Jan 3

Our top choices for Milford vacation rentals

Living area

1. 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, (102 reviews)
"Great little spot very cozy and would love to back in the future"
United States
Miguel
$134 nightly
The price is $150
Sep 20 - Sep 21
Total with taxes and fees
Quick 5-min drive to West Lake from Milford
Terrace/patio

2. 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.
$605 nightly
The price is $639
Sep 27 - Sep 28
Total with taxes and fees
The Canal Cottages off West Lake Okoboji
Pool

3. Spacious 4 Bedroom Lakefront Luxury. Panoramic Views & 6 waterpark passes at BB.

Spacious 4 Bedroom Lakefront Luxury. Panoramic Views & 6 waterpark passes at BB.
Arnolds Park
10.0 out of 10, Exceptional, (47 reviews)
"This condo was beautiful! Had everything we needed and then some. The location was perfect! Beautiful lake view, close to the pool, water park and restaurants. We had 11 in our group and it was spacious enough for all of us."
United States
Julie
$663 nightly
The price is $743
Sep 26 - Sep 27
Total with taxes and fees
Spacious 4 Bedroom Lakefront Luxury. Panoramic Views & 6 waterpark passes at BB.
Pool

4. Updated & beautiful family-friendly, getaway at Bridges Bay!

Updated & beautiful family-friendly, getaway at Bridges Bay!
Arnolds Park
10.0 out of 10, Exceptional, (18 reviews)
"Check-in and check out were very easy! Everything was working and clean when we arrived! The location is great about 5-10 minutes to all the popular spots on the lake! There was tons of space to accommodate our group!"
United States
Noah I.
Updated & beautiful family-friendly, getaway at Bridges Bay!
Living area

5. 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.
$105 nightly
The price is $117
Sep 19 - Sep 20
Total with taxes and fees
2 Bedroom Apartment In Estherville-Steps to 2nd level
Pool

6. Lake view condo! Updated unit with 8 beds and 6 waterpark passes at Bridges Bay.

Lake view condo! Updated unit with 8 beds and 6 waterpark passes at Bridges Bay.
Arnolds Park
10.0 out of 10, Exceptional, (192 reviews)
"Great location, the indoor waterpark was great on a cold & rainy day, and the unit was accurate in its description as well as very clean. I would definitely recommend this place and would stay here again!"
United States
C R.
$394 nightly
The price is $441
Sep 30 - Oct 1
Total with taxes and fees
Lake view condo! Updated unit with 8 beds and 6 waterpark passes at Bridges Bay.
Pool

7. Bridges Bay Boji Lake-View Condo For Rent!!

Bridges Bay Boji Lake-View Condo For Rent!!
Arnolds Park
9.8 out of 10, Exceptional, (138 reviews)
"Loved this condo! Great view and location, large size, plenty of space for our family."
United States
Cameron L.
$417 nightly
The price is $467
Oct 1 - Oct 2
Total with taxes and fees
Bridges Bay Boji Lake-View Condo For Rent!!
Children's area

8. 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, (22 reviews)
"Great location host and price. Place had everything we needed "
United States
Eric L.
$174 nightly
The price is $195
Sep 20 - Sep 21
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
Private kitchen

9. 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
$55 nightly
The price is $62
Sep 20 - Sep 21
Total with taxes and fees
2-bedroom apartment in Estherville Iowa
Beach

10. 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.
$231 nightly
The price is $259
Sep 27 - Sep 28
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.
Marina

11. Cozy Condo by Boardwalk, Restaurants, Golf

Cozy Condo by Boardwalk, Restaurants, Golf
Arnolds Park
9.8 out of 10, Exceptional, (24 reviews)
"Great location. Very nice place to stay. "
United States
Lewis S.
$406 nightly
The price is $455
Oct 1 - Oct 2
Total with taxes and fees
Cozy Condo by Boardwalk, Restaurants, Golf
Interior

12. Just steps from The Green Space and Broadway Street. Fantastic Location for All the Fun!

Just steps from The Green Space and Broadway Street. Fantastic Location for All the Fun!
Arnolds Park
10.0 out of 10, Exceptional, (15 reviews)
"The location is amazing!! Everything was perfect at the location, we couldn’t have asked for anything else!"
United States
Erin E.
$452 nightly
The price is $506
Sep 13 - Sep 14
Total with taxes and fees
Just steps from The Green Space and Broadway Street. Fantastic Location for All the Fun!
Property grounds

13. Lakefront Luxury! Spacious corner condo, wrap around deck. 6 BB waterpark passes

Lakefront Luxury! Spacious corner condo, wrap around deck. 6 BB waterpark passes
Arnolds Park
10.0 out of 10, Exceptional, (119 reviews)
"This worked perfect for our family and needs. Clean, spacious, easy to access, close to amenities and suit our needs perfectly."
United States
Marisa K.
$457 nightly
The price is $512
Sep 15 - Sep 16
Total with taxes and fees
Lakefront Luxury! Spacious corner condo, wrap around deck. 6 BB waterpark passes
Living area

14. 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, (17 reviews)
"Well cared for, clean, right in a central location! "
United States
Nicholas T.
$204 nightly
The price is $228
Oct 3 - Oct 4
Total with taxes and fees
3-bedroom house in marvelous Estherville with AC, WiFi. Enjoy your stay
Exterior

15. Bring ALL of your family and friends to stay at the Central Stay Cation in Arnolds Park!

Bring ALL of your family and friends to stay at the Central Stay Cation in Arnolds Park!
Arnolds Park
10.0 out of 10, Exceptional, (133 reviews)
"We love hosting team retreats in this space! It’s always clean, no toxic plugin air fresheners & an amazing location!"
United States
AmandaW
$669 nightly
The price is $749
Sep 20 - Sep 21
Total with taxes and fees
Bring ALL of your family and friends to stay at the Central Stay Cation in Arnolds Park!
Beach

16. 316 Hwy 71 -Bottom Floor Sleeps 10

316 Hwy 71 -Bottom Floor Sleeps 10
Arnolds Park
10.0 out of 10, Exceptional, (21 reviews)
"I definitely recommend staying here! The space was beautiful, clean, and very comfortable. It had everything we needed for our stay, including bedding, towels, dishes, and other essentials, which made everything so convenient."
United States
BaileyT
$301 nightly
The price is $337
Sep 13 - Sep 14
Total with taxes and fees
316 Hwy 71 -Bottom Floor Sleeps 10
Pool

17. Lake Front Condo on East Lake Okoboji in Bridges Bay Resort.

Lake Front Condo on East Lake Okoboji in Bridges Bay Resort.
ARNOLDS PARK
9.8 out of 10, Exceptional, (79 reviews)
"This place is exactly how the pictures show it. The view of the lake was spectacular and the patio is huge. Everything is very well maintained. The water park is very close and walkable too."
United States
Tracy R.
$537 nightly
The price is $601
Oct 1 - Oct 2
Total with taxes and fees
Lake Front Condo on East Lake Okoboji in Bridges Bay Resort.
Pool

18. Charming 3-bedroom condo in terrific Arnolds Park

Charming 3-bedroom condo in terrific Arnolds Park
Arnolds Park
10.0 out of 10, Exceptional, (5 reviews)
$657 nightly
The price is $736
Sep 14 - Sep 15
Total with taxes and fees
Charming 3-bedroom condo in terrific Arnolds Park
Pool

19. Beachy Keen at Bridges Bay Resort

Beachy Keen at Bridges Bay Resort
Arnolds Park
10.0 out of 10, Exceptional, (3 reviews)
"The overall condo was clean and spacious! We had a wonderful stay! The condo faces the water and there was easy access for my grandkids to fish in the morning. There were yard games for us to use so the kids loved that! Plenty of linens and blankets as it got pretty chilly Labor Day weekend. There were plenty of kitchen pans to make breakfast in the morning and the grill was great to grill food for lunch! Great Condo! We will be back!"
United States
Sueann F.
$529 nightly
The price is $559
Oct 2 - Oct 3
Total with taxes and fees
Beachy Keen at Bridges Bay Resort
Interior

20. 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
$138 nightly
The price is $154
Sep 27 - Sep 28
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.
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

Reston Inn & Suites

Reston Inn & Suites

10/10 Excellent
"Clean, quiet, thoughtfully updated, friendly staff. Didn't do the breakfast do I can't speak on that but we enjoyed our one night there."
Sarah 1-night trip
Posted 2 hours ago
Reston Inn & 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 $441 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?

Lounge at the Lake with 6 daily waterpark passes! Bridges Bay resort.: You might want to consider this vacation rental near Milford, which offers a patio, a selection of games, and a barbecue grill to help you feel perfectly comfortable in your new surroundings. Kitchen amenities include a dishwasher, a fridge, and a stovetop. You and your friends and family can relax into your vacation with amenities like a hot tub.

How many vacation rentals are there in Milford?

Choose from 22 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 Emerson Bay State Recreation Area and Gull Point State Park.

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.