Milford was described as a "pleasant hamlet" by the 1851 History, Gazetteer and Directory of Staffordshire, it then being part of Baswich parish.

Milford Common (grid reference SJ973211) is a popular recreation spot for local people, and has traditionally been the site of many travelling fairs.

The open space and quiet roads around the Common have made it a popular gathering point for horse riders from surrounding areas.

Its borders extend to about a mile south of the village, and the extensive Chase area offers a variety of outdoor activities including several leisure cycling routes.

On 18 September 1990, the former governor of Gibraltar, Sir Peter Terry was shot at his home in Milford by the Provisional IRA.