Milford is a census-designated place (CDP) consisting of the main area of settlement within the town of Milford in Penobscot County, Maine, United States.

[2] As of the census[5] of 2000, there were 2,197 people, 906 households, and 587 families residing in the CDP.

There were 955 housing units at an average density of 296.0 per square mile (114.3/km2).

The racial makeup of the CDP was 95.72% White, 0.14% Black or African American, 1.64% Native American, 0.55% Asian, 0.05% Pacific Islander, 0.41% from other races, and 1.50% from two or more races.

23.7% of all households were made up of individuals, and 7.7% had someone living alone who was 65 years of age or older.