Carlo Milanuzzi was born in Santa Natoglia, or Esanatoglia in the Marche region, to Milanuzzo and donna Felice, probably around 1590, but not after 1592, the starting-date of the Baptismal Books of the town, in which no documentation of his birth has been found.
Though he was an Augustinian friar, he composed both sacred and secular music, and his work is very interesting particularly for the later development of the solo cantata.
Milanuzzi died perhaps around 1647, the date of his last work, Compieta intiera concertata con le Antifone, e Litanie della Beatiss.
In 1621 Carlo Milanuzzi also added the 'continuo' part to Pomponio Nenna’s Il primo libro de madrigali, 4 vv.
The motet Anima miseranda, appeared in 'Ghirlanda sacra scielta da diuersi Eccellentissimi Compositori', an anthology by various authors edited in Venice, 1625.