Milivojević began his career with Radnički Kragujevac and then played for Rad before signing for Red Star Belgrade in January 2012.

Milivojević made his senior international debut for the Serbian national team in 2012 and represented his country at the 2018 FIFA World Cup.

[5] His arrival to Red Star was largely due to the desire of coach Robert Prosinečki, who believed that Milivojević had bright potential.

[9] According to reports in Belgium, Olympiacos were to meet Anderlecht's asking price in order to complete the permanent transfer of Milivojević.

[16] In 2017–18, Milivojević was Palace's top scorer with 10 goals as the Eagles recovered from a poor start to the season to finish 11th under new manager Roy Hodgson.

[18][19] The one he did miss was on 31 December 2017 in added time at the end of a goalless draw against Manchester City, with Ederson making a save for the team who had won their last 18 matches.

[20] On 28 October 2018, Milivojević scored two penalties in a 2–2 home draw with Arsenal, ending the visitors' run of 12 consecutive victories.

He was called-up in the Serbia national team on 29 September 2011, to face Italy and Slovenia in the UEFA Euro 2012 qualifying phase.