The primary village in town, where 593 people resided at the 2020 census,[3] is defined as the Milton census-designated place (CDP), and is located along New Hampshire Route 125 and the Salmon Falls River, just north of Route 75.

Originally a part of Rochester variously called the "Northeast Parish", "Three Ponds" or "Milton Mills", the town was settled in 1760.

Jonas and his sons would undertake the construction of another leatherboard mill in North Rochester around 1900.

They were successful with a machine to manufacture shoe counters and with experiments to make vulcanized fiber.

In 1912 they opened a purpose-built facility to make vulcanized fiber in Tonawanda, New York.

They also acquired the Kennebunk Manufacturing Company (KEMACO), which made lunch boxes and violin cases using leatherboard and vulcanized fiber and at one time had facilities in Milton as well.

[1] Milton is drained by the Salmon Falls River, which forms the eastern boundary of the town and the New Hampshire–Maine state line.

Teneriffe Mountain is the highest point in Milton, with the summit reaching 1,090 feet (330 m) above sea level.