Estherville is a city in Emmet County, Iowa, United States. The population was 5,904 in the 2020 census, a decline from 6,656 at the 2000 census. It is the county seat of Emmet County. History Emmet County was initially created by an act of the Iowa Legislature in 1851. The area that is now Estherville witnessed the arrival of 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 Esth…