Milking stall dimensions have not been adapted to the increase in cow body size caused by selection for better milking performance over the past decades. Improper milking stall dimensions might limit cow comfort, could lead to stress responses during milking and thus could negatively affect cow welfare. A crossover study was conducted in an experimental milking parlor that was converted from a herringbone (HB) to a side-by-side (SBS) parlor. The milking stall dimensions were modified in length and width and for HB also in depth (perpendicular distance between rump rail and breast rail). The stall dimensions applied during the experiments ranged from much smaller than common in European dairy farming to much larger. Treatments were applied for 2 wk per milking parlor type. In each milking parlor type, a total of 30 cows, kept in 2 groups were observed during milking for behavioral and physiological stress responses and for milking performance. In addition, milk cortisol levels and somatic cell counts were measured at the end of the 2-wk period. Outcome variables were selected based on a principal component analysis and analyzed using mixed effects models reflecting the experimental design. The results showed that the first cow per milking batch required more time (on average >40 s) to enter very small HB stalls than to enter small, large and very large stalls (<30 s). Also, cows yielded more milk per milking in very small and very large HB stalls than in the small and large milking stall dimensions very small: 15.8 kg; 95% confidence interval (CI), 14.2–17.4 kg); small: 14.3 kg (95% CI, 12.8–15.9 kg); large: 14.6 kg (95% CI, 13.1–16.1 kg); very large: 16.1 kg (95% CI, 14.6–17.6 kg). The other behavioral, physiological and milk flow parameters as well as udder health were not affected by stall dimensions. For the SBS parlor, effects of milking stall dimensions were not detectable in any of the parameters. Despite the strong avoidance behavior to enter the milking parlor (measured as latency), no acute stress responses were found during milking. However, the study cannot exclude long-term effects of narrow stall dimensions on stress levels and possibly udder health, which should be investigated in future studies.