Milner-Skudder began his professional career by switching to rugby league and was a member of the Sydney-based, Canterbury Bulldogs Under-20s Holden Cup team in 2009 and 2010.

He moved back to New Zealand for 2011 and linked up with the Massey University rugby union team, before being selected by his local ITM Cup side, Manawatu, debuting during the 2011 season.

He quickly established himself as a regular in the Manawatu starting line-ups and although injury limited him to just five appearances in 2013 he was named as a member of the Hurricanes wider training group for the 2014 Super Rugby season.

Milner-Skudder's injury, along with Julian Savea's poor form saw the Hurricanes back-line change extensively throughout the campaign, before settling for Jason Woodward and former All Black Cory Jane on the wings, while James Marshall was shifted to fullback.

Instead, Milner-Skudder signed with the Highlanders for the 2020 & 2021 Super Rugby seasons, he would only make one appearance in this stint, starting at fullback in a 41-22 loss in Wellington against his former side, the Hurricanes, this was his first top-flight game since 2018.

After a standout 2021 NPC for Manawatu, acting in a player-assistant coach role for the Turbos, Milner-Skudder signed to return to the Hurricanes for the 2022 Super Rugby Pacific season.

Milner-Skudder, Charlie Ngatai, James Broadhurst and Sonny Bill Williams were all not considered for selection due to injury for the rest of the entire year.