The Munros of Milntown were a family cadet branch of the Highland Clan Munro. As the earliest recorded cadet branch of the Munro chiefs, the Munros of Milntown were the 'senior' cadet branch of the clan, and spawned many cadet branches. They were frequently recorded as 'Monro' as well as Munro. The Munros of Milntown are notable as being involved in events concerning the history of the late Middle Ages of the Scottish Highlands.
The Munros of Milntown descend from chief Hugh Munro, 9th Baron of Foulis (d.1425) who supported the Lord of the Isles at the Battle of Harlaw in 1411. A younger son of his was John Munro, the first of the Milntown line, whose elder brother George Munro of Foulis was killed during the Battle of Bealach nam Broig in 1452. Thus the chiefship was left to George's then baby son also called John Munro (d.1490). While John Munro of Foulis was still an infant his uncle John Munro of Milntown became "Tutor of Foulis".
In 1454 John Munro of Milntown led the Clan Munro on a raid into Perthshire. On their return home they were ambushed by the Clan Mackintosh at Clachnaharry, where the Battle of Clachnaharry ensued and many lives were lost on both sides. It is said that John Munro of Milntown lost a hand and the Chief of Clan Mackintosh was killed. According to Fraser's Wardlaw Manuscript after the battle of Clachnaharry, John Munro who was wounded was cared for by the Frasers of Lovat, and that laid the foundation of kindness between the Frasers and Munros to this very day. John Munro, 1st of Milntown had two children;
John Munro, 1st of Milntown was succeeded by his eldest son, Andrew Mor Munro, 2nd of Milntown; "a bold, austere, and gallant gentleman, esteemed by his friends, and a terror to his enemies". Andrew is said to have built Milntown Castle in 1500. The family's base, Milntown Castle was at Miltown of Meddat which was so near to Balnagown Castle that the chiefs of Clan Ross tried to stop them building it there.Sir Andrew Munro at this time was also governor of the royal Dingwall Castle. Andrew Mor Munro, 2nd of Milntown was succeeded by his eldest son, Andrew Beg Munro, 3rd of Milntown also known as Black Andrew.