Conventional PMI: removable at 20% equity (automatic at 22%). Monthly cost varies 0.2–1.0% of loan amount annually, depending on FICO and LTV.
FHA MIP: charged upfront (UFMIP, 1.75% of loan amount, financed) AND monthly for the life of the loan on most current FHA files. The only way to eliminate it is to refinance into a non-FHA loan.
VA: no monthly MI. Replaces it with a one-time VA funding fee (2.15–3.3%) financed into the loan. Waived entirely for veterans with VA-rated service-connected disability.
For borrowers above 20% down, no MI applies to any program.
