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

Milford Vacation Rentals

  • Change your mind

    Book hotels with free cancellation

  • Treat yourself

    Sign in to save 10% or more on thousands of hotels
    Sign in

  • Be picky

    Search almost a million properties worldwide

Check prices for these dates

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

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
The price is SAR 522
SAR 837 total
includes taxes & fees
12 Jul - 13 Jul
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.
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)
"Lovely comfortable stay. Great value!"
United States
Mandy C.
The price is SAR 259
SAR 522 total
includes taxes & fees
9 Jul - 10 Jul
Quiet 1 bedroom in Milford with King Bed
Hair dryer, towels, soap, toilet paper

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
The price is SAR 169
SAR 273 total
includes taxes & fees
9 Jul - 10 Jul
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, (9 reviews)
"Well cared for, clean, right in a central location! "
United States
Nicholas T.
The price is SAR 334
SAR 715 total
includes taxes & fees
9 Jul - 10 Jul
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.
The price is SAR 651
SAR 1,836 total
includes taxes & fees
9 Jul - 10 Jul
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
The price is SAR 738
SAR 1,180 total
includes taxes & fees
21 Jul - 22 Jul
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.
The price is SAR 566
SAR 950 total
includes taxes & fees
12 Jul - 13 Jul
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, (22 reviews)
"Very clean, great location, quick responses from host. Great stay!"
United States
Janean S.
The price is SAR 699
SAR 1,427 total
includes taxes & fees
13 Jul - 14 Jul
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
The price is SAR 244
SAR 505 total
includes taxes & fees
3 Aug - 4 Aug
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.
The price is SAR 845
SAR 1,804 total
includes taxes & fees
21 Jul - 22 Jul
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.
The price is SAR 978
SAR 2,334 total
includes taxes & fees
12 Jul - 13 Jul
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.
The price is SAR 666
SAR 1,448 total
includes taxes & fees
9 Jul - 10 Jul
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.
The price is SAR 699
SAR 1,233 total
includes taxes & fees
21 Jul - 22 Jul
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, (24 reviews)
"Very good location, clean, great amenities."
United States
Jill H.
The price is SAR 504
SAR 909 total
includes taxes & fees
9 Jul - 10 Jul
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.
The price is SAR 699
SAR 1,308 total
includes taxes & fees
16 Jul - 17 Jul
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, (20 reviews)
"Great location. Very nice place to stay. "
United States
Lewis S.
The price is SAR 997
SAR 2,164 total
includes taxes & fees
13 Jul - 14 Jul
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.
The price is SAR 1,314
SAR 2,402 total
includes taxes & fees
19 Jul - 20 Jul
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.
The price is SAR 894
SAR 1,915 total
includes taxes & fees
12 Jul - 13 Jul
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.
The price is SAR 504
SAR 880 total
includes taxes & fees
9 Jul - 10 Jul
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.
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

Lake Okoboji Resort & Conference Center

Lake Okoboji Resort & Conference Center

10/10 Excellent
"We have been vacationing in Okoboji Iowa for years. In all these years this was our first stay. It's located adjacent to Brooks Golf Club Resort. This in years past was all the same property. Under new ownership w new name and we decided to try it. Terrific decision! Check in was very easy. The lobby was clean and bright. The hallway to our room was clean and our room was excellent. New mattresses, pillows, and new linens were obvious. A Very nice room and bathroom w a separate vanity room. Exhaust fan worked great and the tub drained great too! The Lake Okoboji Resort and Conference Center is it's new name. Great bar and restaurant so you wouldn't have to leave if you didn't want. Great outdoor pool out near the 1 Tee box. The pool was very well kept too and it wasn't full of noisey kids. This resort does have another indoor pool and kids water play area so thats the pool the kids used! Terrific stay we certainly will go back! This year even! B and T ,Omaha Neb."
BRIAN 4-night trip
Posted 3 hours ago
Lake Okoboji Resort & Conference Center

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?

Millers Bay Canal Retreat : Visitors give good reviews to this Milford vacation home rental, which is located on the waterfront and offers a patio, air-conditioning, and laundry facilities to help you feel perfectly comfortable in your new surroundings.

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.