Milford is a city in Dickinson County, Iowa, United States.

It attracted many colonists because of the rich black soil, water from the lakes, and an abundance of wild game and fish.

In 1921, the U.S. flag was flown at the new city hall for the first time and that year a vote approved to pave Okoboji Avenue (Main Street of Milford).

The Milwaukee rail line which ran through Milford supplied the town with mail, groceries, clothing, lumber, coal, and machinery before automobiles could get to the Great Lakes.

Two passenger trains made daily trips from Des Moines to Spirit Lake, as well as another from Spencer.

Until 1910, excursion trains came to the Lakes Area from Des Moines, Algona, and other towns on weekends and holidays.

The tracks were dismantled in 1978[5] and later became a part of the Iowa Great Lakes Recreational Trail.

Florence Park is located near the high school and offers picnic areas, a large playground, and sessional shelter house available for rent.

Buchanan Park has a playground, a shelter, a basketball court, and a chess table.

The Iowa Great Lakes Trails are a series of recreational trails in the Iowa Great Lakes area that cover almost 30 miles and give citizens and visitors a place to walk, bike, skate, rollerblade, run, and cross-country ski.

One end of the 14-mile "spine" of the trail begins in Milford and travels through Arnolds Park and Okoboji to Spirit Lake.

[14][15] Horseshoe Bend Recreational Area is a 180-acre (0.73 km2) county park located approximately five miles southwest of Milford.

The park includes picnic areas and a shelter house with modern restroom facilities available for rent.

There are 12 primitive campsites, over four miles of mowed trails for hiking, horseback riding, snowmobiling, and cross-country skiing.

To the east, west, and south of town there are gravel pits either exhausted and abandoned-some used as junkyards or ones still used that change the face of the Earth almost overnight.

It was owned by Great Lakes Cooperative until April 3, 2008 when it merged with Green Plains Renewable Energy.