The Huron River, with its potential for developing electric power, attracted the first settlers of Milford. Elizur and Stanley Ruggles built the first mill in 1831, and in 1832 Milford Township was established. The Village of Milford was incorporated in 1869 and served as the central commercial district for the area. Streets, sidewalks, and fire protection were the first order of business for the newly elected Village Council. 

Milford Village is 2.5 square miles nestled in southwest Oakland County and is easily accessed from both I-96 and M-59. With a population of approximately 6,300, the Village still serves as the central business district for approximately 25,000 people in the surrounding areas. The thriving downtown district draws visitors from communities such as Ann Arbor and Dearborn, while retaining its small-town charm.

The Village boasts six parks within its boundaries. Central Park, located on the banks of the Huron River, is a favorite with the children and teens who enjoy the playscape, basketball courts, tennis court, volleyball court, and ice rink. Fairgrounds Park is adjacent to the Senior Center for easy access to a picnic area and shuffleboard courts. Hubbell Pond Park is the site of the new YMCA and Library, with plans on the drawing board for a fishing pier, canoe launch, and trail system. The Village is part of the Huron Valley School District.