As of the census of 2010, there were 530 people, 203 households, and 133 families residing in the city. The population density was. There were 272 housing units at an average density of. The racial makeup of the city was 83.4% White, 5.7% African American, 0.4% Native American, 0.9% Asian, 0.2% Pacific Islander, 1.3% from other races, and 8.1% from two or more races. Hispanic or Latino of any race were 5.7% of the population. There were 203 households of which 36.0% had children under the age of 18 living with them, 54.7% were married couplesliving together, 8.9% had a female householder with no husband present, 2.0% had a male householder with no wife present, and 34.5% were non-families. 25.1% of all households were made up of individuals and 4% had someone living alone who was 65 years of age or older. The average household size was 2.61 and the average family size was 3.18. The median age in the city was 32.8 years. 25.8% of residents were under the age of 18; 11.9% were between the ages of 18 and 24; 30.4% were from 25 to 44; 22.7% were from 45 to 64; and 9.2% were 65 years of age or older. The gender makeup of the city was 54.2% male and 45.8% female.
2000 census
As of the census of 2000, there were 502 people, 183 households, and 133 families residing in the city. The population density was 3,217.2 people per square mile. There were 245 housing units at an average density of 1,570.1 per square mile. The racial makeup of the city was 84.66% White, 3.19% African American, 0.40% Native American, 0.80% Asian, 1.00% Pacific Islander, 3.59% from other races, and 6.37% from two or more races. Hispanic or Latino of any race were 6.37% of the population. There were 183 households out of which 41.5% had children under the age of 18 living with them, 63.4% were married couples living together, 6.6% had a female householder with no husband present, and 26.8% were non-families. 22.4% of all households were made up of individuals and 6.0% had someone living alone who was 65 years of age or older. The average household size was 2.74 and the average family size was 3.27. In the city, the population was spread out with 34.1% under the age of 18, 11.6% from 18 to 24, 32.7% from 25 to 44, 15.9% from 45 to 64, and 5.8% who were 65 years of age or older. The median age was 28 years. For every 100 females, there were 110.0 males. For every 100 females age 18 and over, there were 110.8 males. The median income for a household in the city was $33,750, and the median income for a family was $40,000. Males had a median income of $29,583 versus $16,250 for females. The per capita income for the city was $14,246. About 10.3% of families and 8.1% of the population were below the poverty line, including 7.7% of those under age 18 and 8.8% of those age 65 or over.
Education
Milford is served by USD 475 Geary County Schools. Milford High School was closed through school unification. The Milford High School mascot was the Panthers.
