[1] According to the 2021 census gazetteer files, Milford Township has a total area of 44.34 square miles (114.84 km2), all land.

The township contains these three cemeteries: Maple Grove, Old Milford and Vennum.

As of the 2020 census[1] there were 1,475 people, 753 households, and 498 families residing in the township.

There were 774 housing units at an average density of 17.46 per square mile (6.74/km2).

29.10% of all households were made up of individuals, and 13.30% had someone living alone who was 65 years of age or older.