If you don't want to manipulate Bootstrap by using Less/Sass (maybe because you want to load it via a CDN), this is what did the trick for me:
@media (min-width: 768px) and (max-width: 991px) {
.navbar-collapse.collapse {
display: none !important;
}
.navbar-collapse.collapse.in {
display: block !important;
}
.navbar-header .collapse, .navbar-toggle {
display:block !important;
}
.navbar-header {
float:none;
}
}
Demo: https://jsfiddle.net/0pmy8usr/
Add this in a separate CSS file and include it after bootstrap.css
UPDATE for Bootstrap 4:
@media(max-width:900px) {
.navbar .navbar-brand {float:none;display: inline-block;}
.navbar .navbar-nav>.nav-item { float: none; margin-left: .1rem;}
.navbar .navbar-nav {float:none !important;}
.nav-item{width:100%;text-align:left;}
.navbar-toggler {display: block !important;}
.navbar-toggleable-sm.collapse {display:none !important}
.navbar-toggleable-sm.collapse.in {display:block !important}
}
Demo: https://jsfiddle.net/mkvhbgnp/3/
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