Her doctoral thesis was Suis omnia tuta locis: Women, Place, and Public Life in the Age of Augustus.
Her first book, Gender, Domesticity, and the Age of Augustus: Inventing Private Life, was published by Oxford University Press in 2005.
[4] Milnor received a Frederick Burkhardt Fellowship funded by The American Council of Learned Societies at the Institute for Advanced Study in Princeton, New Jersey, 2008–9.
[7] Milnor has held significant fellowships at the American Academy in Rome ((2003 – 4) and the Institute for Advanced Study in Princeton (2008 – 9).
Although she was not credited as the historical consultant, in 2003, Milnor also worked with executive producers and directors of HBO's Rome, advising on the "reality" of ancient Roman life during the show's early production.