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 2.52 square miles (6.53 km²), of which 2.43 square miles (6.29 km²) is land and 0.09 square miles (0.23 km²) is water.

As of the census of 2010, there were 6,175 people, 2,589 households, and 1,719 families residing in the village. The population density was 2,541.2 inhabitants per square mile (981.2/km²). There were 2,777 housing units at an average density of 1,142.8 per square mile (441.2/km²). The racial makeup of the village was 95.7% White, 0.6% African American, 0.6% Native American, 0.7% Asian, 0.7% from other races, and 1.7% from two or more races. Hispanic or Latino of any race were 2.0% of the population.

There were 2,589 households of which 31.4% had children under the age of 18 living with them, 49.9% were married couples living together, 13.2% had a female householder with no husband present, 3.2% had a male householder with no wife present, and 33.6% were non-families. 28.4% of all households were made up of individuals and 10.2% had someone living alone who was 65 years of age or older. The average household size was 2.38 and the average family size was 2.93.

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