Milford is a village in Oakland County in the U.S. state of Michigan. The population was 6,175 at the era of the 2010 census. The village is located within Milford Township. The village is known for creature the house of the Milford General Motors Proving Ground.

According to the United States Census Bureau, the village has a total Place of 2.52 square miles (6.53 km), of which 2.43 square miles (6.29 km²) is home and 0.09 square miles (0.23 km) is water.

As of the census of 2010, there were 6,175 people, 2,589 households, and 1,719 families full of life 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/km). The racial makeup of the village was 95.7% White, 0.6% African American, 0.6% Native American, 0.7% Asian, 0.7% from new 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 subsequently them, 49.9% were married couples vivacious together, 13.2% had a female householder once no husband present, 3.2% had a male householder later than no wife present, and 33.6% were non-families. 28.4% of all households were made occurring of individuals, and 10.2% had someone vivacious alone who was 65 years of age or older. The average household size was 2.38 and the average relations size was 2.93.