17

Milford, IA Houses for Sale

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  • /22

    $899,000

    • 3 Beds
    • 2 Baths
    • 2,048 Sq Ft

    20540 232nd Ave, Milford, IA 51351

    Affordable lake living is here! Enjoy the main part of Lower Gar Lake just down the road from the Lower Gar State Recreation Park. This deep lot has a soft gentle slope from the road to the lake allowing for a zero entry experience onto the dock. The home has been lovingly maintained for years, and the landscaping is beautiful. The home offers 3 bedrooms (1 nonconforming), 2 bathrooms and 2

    Agent Photo

    Aaron Jones

    RE/MAX Lakes Realty

    (712) 581-4176

    20540 232nd Ave, Milford, IA 51351
  • /48

    $3,200,000

    • 5 Beds
    • 4.5 Baths
    • 4,203 Sq Ft

    3012 Lakeview St, Milford, IA 51351

    Okoboji memories are waiting to be made in this turnkey, all-inclusive West Lake property. The home meets every need, from easy entertaining to peaceful moments of relaxation, while capturing pristine lake views stretching across Emerson Bay all the way to the bridge. The generously sized interior impresses with an inviting, social-ready kitchen; a luxurious primary suite with spa-caliber bath

    Mickey Harrington Okoboji Realty

    3012 Lakeview St, Milford, IA 51351
  • /23

    $2,625,000

    • 5 Beds
    • 3 Baths
    • 2,334 Sq Ft

    2209 Lakeshore Dr, Milford, IA 51351

    From the step-free lake approach to the inviting living space capturing sparkling blue views, this West Lake property beams with Okoboji joy. The 5 bedroom, 3 bathroom home features 50 feet of lakeshore and a soothing blue horizon through light-filled walls. A host of updates covers the kitchen, upper-level bathrooms, including a huge tiled shower in the primary suite; windows, siding and roof;

    Mickey Harrington Okoboji Realty

    2209 Lakeshore Dr, Milford, IA 51351
  • /77

    $1,399,900

    • 4 Beds
    • 4.5 Baths
    • 5,160 Sq Ft

    2173 230th St, Milford, IA 51351

    Location, Location! Have you been searching for some elbow room? Look no further! This stunning 4-bedroom, 5-bathroom home sits on just under 10 acres, less than a mile from town on a hard-surface road, with the serene Mill Creek running along the edge of the property. As you step through the front door, you're welcomed by a tall, grand foyer with sightlines straight through the living room to

    Rob Hinn Hinn Real Estate

    2173 230th St, Milford, IA 51351
  • /44

    $2,095,000

    • 4 Beds
    • 3 Baths
    • 2,592 Sq Ft

    1001 Oak Place, Milford, IA 51351

    Welcome to your dream lakefront escape! This beautifully renovated 4-bedroom, 3-bathroom house blends modern comfort with timeless style. Set just steps from the water’s edge, enjoy serene lake views from both your upper deck and spacious lower-level patio—perfect for morning coffee, evening sunsets, and everything in between. Inside, the home boasts a fresh, modern aesthetic with high-end,

    George Carlson Keller Williams Okoboji

    1001 Oak Place, Milford, IA 51351
  • /92

    $3,495,000 Open House 8/30

    • 4 Beds
    • 5 Baths
    • 4,136 Sq Ft

    1012 Hill St, Milford, IA 51351

    Stunning Custom 4-Bed, 5-Bath Home on 50' of West Lake Okoboji in Wahpeton, Iowa. Welcome to your dream home on the pristine shores of West Lake Okoboji. This custom-built masterpiece combines luxury, elegance, and exceptional craftsmanship. With four spacious bedrooms and five bathrooms, the home is designed to meet every need with style and comfort. Nestled on 50 feet of prime West Lake

    Jen Schaben Keller Williams Okoboji

    1012 Hill St, Milford, IA 51351
  • /23

    $479,000

    • 2 Beds
    • 1 Bath
    • 1,085 Sq Ft

    2202 Iowa Ave, Milford, IA 51351

    Never listed before, this charming year-round A-frame cabin has been meticulously cared for by the original owner since 1985. Surrounded by towering trees and abundant wildlife, it's just a short walk to West Lake Okoboji. Cozy in size yet offers plenty of storage. Features a stone wood-burning fireplace, modern kitchen, stackable laundry, front and rear decks and concrete patio, all on a

    Tracey Radcliffe EXIT Realty Midwest

    2202 Iowa Ave, Milford, IA 51351
  • /34

    $315,000

    • 3 Beds
    • 2 Baths
    • 2,094 Sq Ft

    1605 G Ave, Milford, IA 51351

    Beautifully updated family home in Milford! This 3-bedroom, 2-bathroom home features high ceilings and a spacious, open-concept living, dining, and kitchen area. The kitchen boasts new countertops and a stylish new backsplash. Step outside to a private backyard with a large, three-level deck—no neighbors behind the property offer added privacy. Located on a quiet street near the baseball

    Michael Jensen Jensen Real Estate

    1605 G Ave, Milford, IA 51351
  • /18

    $193,000

    • 2 Beds
    • 1 Bath
    • 1,198 Sq Ft

    1406 Okoboji Ave, Milford, IA 51351

    Welcome to this beautifully updated craftsman-style home featuring two bedrooms plus a dedicated office. Enjoy the charm of original hardwood floors, fresh paint, and custom blinds throughout. The kitchen and baths have been thoughtfully updated for modern comfort. An attached garage and spacious yard with a convenient side-street-access driveway complete this inviting property—blending classic

    Scott Reynolds EXIT Realty Midwest

    1406 Okoboji Ave, Milford, IA 51351
  • /21

    $279,900

    • 4 Beds
    • 2.5 Baths
    • 2,852 Sq Ft

    1311 9th St, Milford, IA 51351

    Spacious 4 Bed, 3 Bath Home on a Large Corner Lot! This charming property features an expansive front porch, perfect for relaxing or entertaining. With 4 bedrooms and 3 bathrooms, there’s plenty of space for comfortable living—inside and out.

    Nick Steffes Integrity Real Estate

    1311 9th St, Milford, IA 51351
  • /49

    $749,900

    • 4 Beds
    • 4 Baths
    • 2,332 Sq Ft

    612 Prairie Meadow Dr, Milford, IA 51351

    Luxury Living in Scenic Nature Trails Revel in over 2,300 sq ft of stunning design nestled on a sprawling 1.2-acre lot in the highly sought-after Nature Trails community. This 4-bedroom, 4-bath home offers a bright, open-concept layout with endless natural light and thoughtful custom finishes throughout. Interior Highlights: Elegant Travertine flooring and Anderson windows Spacious open floor

    Nick Steffes Integrity Real Estate

    612 Prairie Meadow Dr, Milford, IA 51351
  • /43

    $149,500

    • 3 Beds
    • 1.5 Baths
    • 2,205 Sq Ft

    1012 K Ave, Milford, IA 51351

    Sitting on a corner lot, this home has lot's of potential! Lots of storage for vehicles, boats, toys with two garage sheds/work shops. 3 bed, 1 bath home will need some TLC. Priced to sell for handy persons or investors.

    Jimy Mac Lenz Hinn Real Estate

    1012 K Ave, Milford, IA 51351
  • /43

    $595,000

    • 9 Beds
    • 3 Baths
    • 3,000 Sq Ft

    1808 Edgewood Dr, Milford, IA 51351

    Just North of Crescent Beach and South of Gull Point sits the perfect retreat house just off West Lake Okoboji on the canal. This Home features 9 bedrooms (1 non-conforming), 3 bathrooms and well over 1/2 an acre of land. An impressive amount of space to offer for a vacation home with all the rooms needed for each of your guests, or even start your own AirBNB! This property comes with a dock

    Elizabeth Sandy RE/MAX Lakes Realty

    1808 Edgewood Dr, Milford, IA 51351
  • /57

    $1,975,000 New Construction

    • 6 Beds
    • 4.5 Baths
    • 4,157 Sq Ft

    20 Helen Ave, Milford, IA 51351

    Welcome to 20 Helen Avenue! Take a look at this new construction home on Lower Gar that’s all about easy, elevated lake living. Tucked at the end of a quiet cul-de-sac and facing protected DNR land, you’ll feel like you’ve found your own peaceful corner of the Lakes without being far from the action. With 72 feet of shoreline and direct access to the entire chain of lakes, this location offers

    Aftin Groen Real Estate Unlimited

    20 Helen Ave, Milford, IA 51351
  • /42

    $489,500 New Construction

    • 3 Beds
    • 2 Baths
    • 1,870 Sq Ft

    2801 Bonnie Ln, Milford, IA 51351

    Welcome to easy, one-level living in this new construction ranch located in the Hunter Hills community of Milford! This well designed 3-bedroom, 2-bath home offers 1,870 sq ft of open living space ideal for both everyday living and entertaining. Step inside to an open-concept layout, where the modern kitchen takes center stage. Enjoy quartz countertops, a large center island, and a generous

    Seth Hellinga Real Estate Unlimited

    2801 Bonnie Ln, Milford, IA 51351
  • /26

    $4,795,000 New Construction

    • 5 Beds
    • 6 Baths
    • 5,210 Sq Ft

    2411 Lakeshore Dr, Milford, IA 51351

    Easy access to West Lake on this low bank! New Construction on very desirable Eagle Point with Full Lake Views from every room in this 5 Bed Contemporary Showpiece. 95' of owned lakeshore with over 200' of Lakeshore privacy! Property includes a private back lot with a second dock to Turtle Lake for fishing and smaller lake fun! Two Primary Suites, one on each level; convenience of Laundry on each

    Peggy Bergh-Kuker Keller Williams Okoboji

    2411 Lakeshore Dr, Milford, IA 51351
  • /46

    $599,000

    • 2 Beds
    • 2 Baths
    • 1,235 Sq Ft

    994 S Emerald Hills Dr, Arnolds Park, IA 51331

    Perfectly situated on the ninth fairway of Emerald Hills Golf Course in Arnolds Park, Iowa, this recently built 2-bedroom, 2-bathroom home has been fully upgraded and is truly magazine-worthy. The brand-new kitchen boasts custom cabinetry from G&E Cabinetry, complemented by updated bathrooms with new showers, fresh flooring, and interior and exterior paint. The spacious three-car attached garage

    Michael Jensen Jensen Real Estate

    994 S Emerald Hills Dr, Arnolds Park, IA 51331

Why Live in Milford

Milford, IA, is a small community known as the gateway to the Iowa Great Lakes, with Highway 71 providing direct access to nearby lake points, resorts, and entertainment hubs. The city fosters a friendly atmosphere where residents enjoy a mix of historic and modern homes, including bungalows, ranches, American Foursquares, condos, duplexes, and manufactured homes. The Okoboji Community School District serves the area, with highly rated schools like Okoboji Elementary School and Okoboji Middle School. Local businesses and restaurants are primarily located along Highway 71, featuring favorites such as Perkins American Food Co., Mill Creek Restaurant and Lounge, and Oak Hill Outdoor. Milford Pioneer Theater offers a cozy spot for movie nights, while Little Sioux Orchard provides seasonal apple picking and fresh pies. Parks like Florence Park, Calkins Park, and Memorial Park offer various recreational activities, and wildlife areas such as Horseshoe Bend Wildlife Area are popular for hiking and camping. The community is connected by Highway 71 and State Route 86, with the nearest hospital 7 miles away in Spirit Lake and Sioux Falls Regional Airport 103 miles away. Annual events like RAGBRAI and Pioneer Days bring vibrant celebrations to the city, making Milford a lively place with plenty of things to do.

Home Trends in Milford, IA

Housing Trends

Median Sale Price
$365,000
Median Single Family Sale Price
$402,500
Median 2 Bedroom Sale Price
$140,000
Median 1 Bedroom Sale Price
$238,000
Average Price Per Sq Ft
$268
Number of Homes for Sale
18
Last 12 months Home Sales
65
Months of Supply
3.30
Median List Price
$415,000
Median Change From 1st List Price
2%
Median Home Sale Price YoY Change
-1%
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