Milford is a village in Oakland County in the U.S. state of Michigan. The population was 6,175 at the 2010 census. The village is located within Milford Township.
According to the United States Census Bureau, the village has a total area of 2.5 square miles (6.5 km2), of which 0.1 square miles (0.26 km2), or 2.39%, is water.
As of the census of 2000, there were 6,272 people, 2,427 households, and 1,706 families residing in the village. The population density was 2,560.7 per square mile (988.4/km²). There were 2,491 housing units at an average density of 1,017.0 per square mile (392.6/km²). The racial makeup of the village was 97.35% White, 0.16% African American, 0.38% Native American, 0.49% Asian, 0.35% from other races, and 1.26% from two or more races. Hispanic or Latino of any race were 1.32% of the population.