Milaca (pronunciation: /mɨlækə/ məl-ak-ə) is a city in Mille Lacs County, Minnesota, United States. The population was 2,946 at the 2010 census. It is the county seat of Mille Lacs County and is situated on the Rum River.
According to the United States Census Bureau, the city has a total area of 3.2 square miles (8.3 km²), all of it land.
U.S. Highway 169 and Minnesota Highway 23 are two of the main routes in the city.