Estherville is a city in Emmet County, Iowa, United States. The population was 5,904 in the 2020 census. Emmet County was initially created by an act of the Iowa Legislature in 1851. The area that is now Estherville had its first settlers around 1856 and into 1857. The city was selected as the county seat in 1859, and was eventually incorporated in 1881.
Estherville was named after Esther A. Ridley, one of the first white female settlers in the area. Many of Estherville's current residents are the descendants of the original Scandinavian, German and Irish immigrants that arrived in the community in the 1870s.
Estherville is near Okoboji and Spirit Lake. Fort Defiance State Park offers a variety of hiking and horseback trails, a campsite and outdoor meeting areas. The park was named after a military fort constructed in Estherville in 1863 in response to the Dakota War of 1862.