Milford is a city in Dickinson County, Iowa, home to about 3,311 people across 2.2 square miles. Its ZIP code is 51351.
Homes sold for a median of $184 per square foot in the three months ending August 2026, a balanced market.
Mostly Milford; also West Okoboji and Wahpeton
Each card is that ZIP code’s whole market, including any part outside Milford. Seller’s market: under 4 months of supply; buyer’s market: over 6. Methodology
We’re writing up Milford’s story and what everyday life there is like, for people thinking about moving in.
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| Nearest major airport | Eppley Airfield (OMA)144 miles away |
|---|---|
| Closer regional airport | Fort Dodge Regional Airport (FOD)72 miles away |
| Nearest city of 250,000+ | Minneapolis, MN147 miles away |
| Nearest city of 1 million+ | Chicago, IL394 miles away |
Straight-line distances from the center of Milford; driving is longer.
Source: Airports from OurAirports (scheduled passenger service); city centers and populations from the U.S. Census Bureau.
Source: Members of Congress from the congress-legislators project; districts from the Census Bureau’s relationship files; governor and mayor from Wikidata.
Milford had 3,321 residents in the 2020 census, up 34% since 2000.
It’s the 117th largest of 1,019 towns in Iowa by population.
Dickinson County grew from 7,995 residents in 1900 to 17,703 in 2020.
Dickinson County, 1900–2020
Source: U.S. Census Bureau decennial censuses (counties 1900–1990 from the Bureau’s historical county file).
Average highs peak around 83°F in summer, and winter lows average 8°F. About 29.5 inches of rain and melted snow fall in a typical year, with about 38 inches of snow.
Source: NOAA 1991–2020 climate normals, Milford 4 Nw, IA weather station (5 miles away).
7,749 jobs at 784 businesses in Dickinson County. The biggest industries by employees:
Source: U.S. Census Bureau County Business Patterns 2023 (private employers; jobs counted where people work).
23 doctors and other health care providers list an office in Milford.
Nearest hospitals
Providers with an office here
| Dentists | 3 |
|---|---|
| Nurse practitioners and physician assistants | 4 |
| Mental health providers | 6 |
| Physical and occupational therapists | 3 |
| Optometrists | 1 |
| Chiropractors | 6 |
| Pharmacies | 2 |
Source: Hospitals from CMS Hospital General Information (ratings are CMS overall star ratings); straight-line distances; providers from the CMS National Plan and Provider Enumeration System (NPPES), by practice address and primary specialty.
Parks (5 nearby)
Grocery stores (1 nearby)
Pharmacies (1 nearby)
Libraries (1 nearby)
Museums (1 nearby)
Theaters and performance venues
Counts are within about 1 mile of the center of town.
Source: Map data © OpenStreetMap contributors (openstreetmap.org/copyright), as mapped by volunteers; it can miss places or include closed ones.
Public schools here are run by Okoboji Comm School District. Check each district’s attendance zones for a specific address.
| School | Grades | Students | Type | Distance |
|---|---|---|---|---|
| Okoboji Elementary SchoolMilford | Pre-K–4 | 491 | Public | 0.5 mi |
| Okoboji Middle SchoolMilford | 5–8 | 339 | Public | 0.2 mi |
| Okoboji High SchoolMilford | 9–12 | 366 | Public | 0.3 mi |
Source: U.S. Department of Education, NCES: Common Core of Data (2024-2025) for public schools. Listed by address; we don’t rate schools.
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Shares ZIP codes with West Okoboji, Wahpeton and Arnolds Park.
Town boundaries don’t always match ZIP codes: a ZIP code can cross into neighboring towns, and a town can share a ZIP code with its neighbors. Facts describe the town itself; market figures describe whole ZIP codes.