Estherville is a city in Emmet County, Iowa, United States. The population was 6,360 in the 2010 census, a decline from 6,656 in the 2000 census. It is the county seat of Emmet County. Estherville is home to the main campus of Iowa Lakes Community College. The area of the town was first settled in the 1850s, with the town eventually becoming incorporated in 1881.