HMS Mildura was a Pearl-class cruiser built for the Royal Navy in the late 1880s.

Originally named HMS Pelorus, she was renamed after an Australian town in April 1890.

Captain Henry Leah was in command from April 1897 until April 1900, when Captain Henry C. A. Baynes arrived in Australia on board HMS Diana to take command of the ship.

She was part of the naval escort for the visit of the Duke and Duchess of Cornwall and York (later King George V and Queen Mary) to New Zealand aboard the chartered Royal liner HMS Ophir during 1901.

This article about a specific naval ship or boat of the United Kingdom is a stub.