The largest U.S. cities, New York, Los Angeles, Chicago, Houston and Phoenix, may have high median annual incomes, but they also have high median home prices.

For example, San Francisco, one of the best job markets in the U.S., has the highest average annual salary in the country at $69,110, but the median home price is $790,233.

It's not easy to find a city in the U.S. with lots of jobs and low housing prices.

If you are looking for a balance in an area with high income, cheap housing, positive job prospects and a less boring life, then the following five mid-sized cities may be a good choice for you.

Des Moines, Iowa

With a total population of just over 600,000, Iowa's capital city still looks like a rural area, despite its size.

Downtown Des Moines is home to lofts and apartments for millennials and empty nesters, and is surrounded by suburbs where families live.

Des Moines is a medium-sized town with an abundance of outdoor recreation and cultural activities, as well as fine restaurants and stores.

An average annual salary of $49,420 and a median home price of only $181,217 make Des Moines the fourth most livable place in the United States.

In addition, residents tend to spend only 23.52 percent of their annual income on housing costs, including mortgage or rent, utilities and taxes, which in turn makes Des Moines the third most affordable city in the United States.

Minneapolis-St. Paul, Minnesota

Known as the "Land of 10,000 Lakes," Minnesota offers everything from boating and swimming to ice fishing and cross-country skiing.

The Twin Cities are home to an abundance of museums, art galleries, sporting events and the Mississippi River offers plenty of water activities.

With an average annual salary of $55,010 and a moderate home price of $237,367, it is the ninth best place to live, and residents only need to spend 25 percent of their annual income on housing costs.



Salt Lake City, Utah

Named for its proximity to the Great Salt Lake, Utah's capital city is very popular for outdoor recreation, with five national parks and several world-class ski resorts within driving distance.

With a population of just under 2.4 million, Salt Lake City is the most populous metropolitan area in Utah. Residents have a median annual income of $46,221 and spend slightly more than 25 percent of their annual income on housing.

The median price of a home in Salt Lake City is $280,894, the highest in this survey.

Boise, Idaho

Boise, Idaho is a haven for outdoor adventurers and hikers.

In fact, this area could rank near the top of anyone's list for recreation around rivers, mountains, canyons, deserts or lakes. That said, downtown Boise is really good in these areas of culture, nightlife, entertainment and dining.

The average annual salary in this city is relatively low compared to other cities, but the average home price is also moderate; with an average annual salary of $43,040 and a median home price of $221,475, this area is an affordable place to live.

Omaha, Nebraska

Omaha has a population of over 900,000. In the past, most of the local residents were involved in ranching, but now it is home to a large number of new technology startups.

The median annual salary in Omaha is $46,490 and the ultra-low median home price is only $165,667. Residents only need to spend 25% of their annual income on housing and other expenses, making it very livable.

If you're looking for a city with both affordable housing and good job prospects, you might consider one of the five cities listed above.