Milford Township covers an area of 37.2 square miles (96 km2) and contains a small portion of the incorporated town of Ames.

Story County maintains McFarland Park which is a 200-acre (0.81 km2) area located in northwest Milford Township.

Visitors can explore a variety of ecotypes including tallgrass prairie, woodland, and stream habitats.

The park includes a 6.5-acre (26,000 m2) lake stocked with bluegill, bass, and catfish.

Winter activities include ice fishing and cross-country skiing.