In ice, all intermolecular bonds (hydrogen bonds) between water molecules are formed and they all have a fairly ideal geometry for the strongest interaction. In liquid water these bonds still persist, but they do not have ideal geometry and they are much more dynamic (they easily break and re-form).
So in other words, to go from ice to liquid water, you just need to slightly weaken the IMFs whereas to go from liquid water to vapor you need to completely break all of the IMFs.