Estherville Township is one of twelve townships in Emmet County, Iowa, United States.

[1] Estherville Township takes its name from the county seat of Estherville.

It was created prior to 1876, but the exact date is unknown because the records were destroyed in a courthouse fire.

[2] According to the United States Census Bureau, Estherville Township covers an area of 36.15 square miles (93.63 square kilometers); of this, 35.81 square miles (92.75 square kilometers, 99.06 percent) is land and 0.34 square miles (0.88 square kilometers, 0.94 percent) is water.

The township contains these five cemeteries: East Side, Estherville Lutheran, Norwegian, Oak Hill and Saint Patricks.