Because people spend the majority of the day indoors, it is important to evaluate indoor air, especially airborne particulate matter (PM), for its potential health effects. However, collecting milligram-sized samples of indoor PM, which are necessary for detailed chemical and biological assays, remains challenging because of the noise, power requirements, and size of traditional PM samplers. Therefore, we developed a novel method of collection using an electrostatic precipitator (ESP). Laboratory experiments were conducted to characterize the ESP collection efficiency (41–65%) and PM recovery (50–95%) for three aerosol types. After characterization, the ESPs were deployed in 21 homes in eastern Iowa for 30 days, during which they collected 6–87 mg of indoor PM. The samples were acid digested and subsequently analyzed by inductively coupled plasma mass spectrometry for their magnesium, aluminum, vanadium, manganese, iron, nickel, copper, zinc, arsenic, and lead content. Crustal metals (magnesium, iron, and aluminum), ranging from 3,000 to 25,000 ng mg–1 in concentration, contributed the largest mass fractions of the PM. The relative abundances of the metals were similar between homes, although the PM mass fractions were highly variable. This ESP sampling method can be applied in future studies to collect milligram-sized quantities of indoor PM, enabling a detailed analysis of its composition and potential health effects.