[8] During the Great Depression, workers from a nearby Civilian Conservation Corps camp constructed a road from Milford to Beaver, to improve connections.

Lightning caused a massive wildfire to start near Milford at 3:45 p.m. Friday, July 6, 2007.

[9] On July 8 the fire was declared the largest in Utah's history, having burned more than 283,000 acres (1,150 km2).

Milford is located in east-central Beaver County in the Escalante Desert, a basin situated between the Mineral Mountains to the east and the smaller Star Range to the west.

State Route 257 runs north from Milford 74 miles (119 km) to Delta.

According to the United States Census Bureau, the city has a total area of 3.1 square miles (8.0 km2), all land.