Milford Township is one of twelve townships in Dickinson County, Iowa, USA.

As of the 2000 census, its population was 869.

[1] According to the United States Census Bureau, Milford Township covers an area of 35.51 square miles (91.98 square kilometers).

Of this, 35.46 square miles (91.85 square kilometers, 99.86 percent) is land, and 0.05 square miles (0.12 square kilometers, 0.13 percent) is water.

The township contains Milford Cemetery.