Sir Francis Milman, 1st Baronet (31 August 1746 – 24 June 1821) was an English physician.
He was born the son of Francis Milman, rector of East Ogwell, Devon and educated at Exeter College, Oxford, where he was awarded B.A.
He died at Pinner Grove, Middlesex in 1821, and was buried in the church of St. Luke at Chelsea.
His eldest son, William George, succeeded him in the baronetcy, and was father of Robert Milman, Bishop of Calcutta.
His youngest son, Henry Hart Milman became Dean of St Paul's.