America's most livable small cities revealed, with locals loving their reasonable housing costs, plentiful jobs and great amenities

America's most livable small cities have been revealed, with residents praising their affordable housing, ample jobs and spacious lifestyles.

The rankings were compiled taking into account additional factors such as commute times, healthcare coverage and amenities.

Troy in Michigan was crowned best overall, according the research of 281 small cities by SmartAsset.

The city of 87,000 people offers the most affordable housing relative to incomes, with housing costs averaging 15.0% of the median household income of $109,444.

In second place is Rochester Hills, also in Michigan, where just 3.6 percent of the population live below the poverty level, compared to the national average of 11.3 percent.

Troy in Michigan was crowned America's most livable city thanks to its affordable housing

Franklin, Tennessee and Redmond Washington rounded out the top five, with Franklin boasting a relatively high proportion of arts, entertainment and leisure businesses.

Redmond meanwhile, offers low commute times and reasonable housing costs amounting to less than 20 percent of income.

'Small cities may offer cost benefits for residents looking to stretch their income while enjoying a comfortable – and more spacious – lifestyle,' Certified Financial Planner and Managing Editor at Smart Asset said

'While livability is a subjective concept that may take on different definitions for different people, some elements of a community can come close to being universally beneficial. 

In second place is Rochester Hills, where just 3.6 percent of the population live below the poverty level, compared to the national average of 1 1.3 percent

Eau Claire, Wisconsin claimed third place, partly thanks to its low commute time of just under 16 minutes

To determine the results researchers, compared 281 cities with a population between 65,000 and 100,000 across several metrics.

These were  housing costs as a percentage of household income, poverty and unemployment rates, percentage of residents with health insurance, average commute times and business offerings.

Three midwestern states dominate the top ten, according to the research.

Michigan, Wisconsin and Minnesota all boast the most livable cities. 

Appleton, Wisconsin, Plymouth, Minnesota, Livonia, Michigan and Oshkosh, Wisconsin also made the top 10.

Lakeville, MN, ranking 15th for overall livability, has the lowest number of residents below the poverty line at 2.3 percent.

Franklin, Tennessee at number four boasts a relatively high proportion of arts, entertainment and leisure businesses

Residents in Redmond, Washington enjoy low commute times and reasonable housing costs amounting to less than 20 percent of income

Palo Alto, California is known as the birthplace of Silicon Valley and boasts one of the highest median household incomes on the list

Meanwhile, locals in Champaign, Illinois enjoy the shortest commute at just 13 minutes.

Perhaps unsurprisingly for the birthplace of Silicon Valley, California's Palo Alto has one of the highest median household incomes of $179,707.

This plus a wealth of accommodation, food and arts and recreation businesses  make the Golden State city among one of the country's most livable.

Immediately after Palo Alto was West Des Moines in Iowa, a city with a population of just over 70,000.

Housing costs are around $1,277 per month, equivalent to 17.9 percent of income.