The abode of the first pair, from whom sprang the human race. It was made of the eyebrows of Ymer, and was joined to Asgard by the rainbow bridge called Bifrost. (Scandinavian mythology.)
Asgard is the abode of the celestials.
Utgard is the abode of the giants.
Midgard is between the two- better than Utgard, but inferior to Asgard.
Source: Dictionary of Phrase and Fable, E. Cobham Brewer, 1894