Milford is a village in the county of Staffordshire, England. It lies at the edge of Cannock Chase, on the A513 road between Stafford and Rugeley. Just to the north of the village is the River Sow.
Milford was described as a "pleasant hamlet" by the 1851 History, Gazetteer and Directory of Staffordshire, it then being part of Baswich parish. There is no church, the church at Walton-on-the-Hill, Staffordshire being less than a mile away.
Milford forms part of the civil parish of Berkswich which, in turn, forms part of the borough of Stafford.
Milford Common (grid reference SJ973211) is a popular recreation spot for local people, and has traditionally been the site of travelling fairs. The entrance to the National Trust Shugborough estate faces the common. Shugborough houses the county's official museum.
Cannock Chase AONB is nearby. Its borders extend to about a mile south of the village, and the extensive Chase area offers a variety of outdoor activities including several leisure cycling routes.
The Staffordshire Way long-distance footpath passes very near Milford, to the south-east. It also lies on the Heart of England Way.