In August 1981, a time when the gay-rights movement was just gaining momentum, founding Artistic Director Jeffrey D. McIntyre and 45 singers came together to form something quite new, especially in the South—a singing group.

By the time the newly formed AGMC gave its premier performance at First Metropolitan Community Church on North Highland Avenue on October 18, membership had increased to 48.

Six weeks later, the AGMC presented its first Holiday Concert, Music of the Season, featuring ten decidedly Christmas songs, on November 29, 1981, at Grant Park United Methodist Church.

The AGMC was chartered in the U.S. state of Georgia as a domestic nonprofit organization on March 3, 1982, and was granted 501(c)(3) tax-exempt status by the Internal Revenue Service in December 1982.

The AGMC has also performed joint concerts with several special guests, including the Derivative Duo (Seattle, Washington) in 1995, Dr. Maya Angelou in 1998, the Atlanta Ballet in 1999, Matt Alber in 2015, and Jessica Vosk in 2022.

In 2001, the AGMC, AFWC, and Atlanta Freedom Marching Band[10] hosted a benefit concert for the victims and survivors of the September 11 terrorist attacks on America.

In 2002, the AGMC performed at the post-inaugural reception for City of Atlanta Mayor Shirley Franklin, the first time any LGBT organization had participated in such an event.

On March 12, 2014, the Georgia House of Representatives passed Resolution HR 1787 commending the Atlanta Gay Men's Chorus for its legacy and hard work.

They also presented a selection of music on June 17, 2023, at the Teatro Arena del Sole, in The Leo de Berardinis Hall for an audience of over 450 people from other choruses from around the world.

Milton has extensive experience as an educator, including teaching general music at an alternative school for emotionally impaired youth.