Milford is a borough in Pike County, Pennsylvania, United States, and the county seat. Its population was 1,021 at the 2010 census. Located on the upper Delaware River, Milford is part of the New York metropolitan area.

According to the United States Census Bureau, the borough has a total area of 0.5 square miles (1.3 km²), all land.

Milford is located in the Poconos Mountains, in what was historically a heavily wooded area. When Judge Biddis bought up the land of what was then known as Wells Ferry and laid out the lots for the new town, he generally followed the urban plan of Philadelphia: he laid out High Street – the equivalent of what is now Market Street in Philadelphia – running to the Delaware River, while Broad Street runs perpendicular to High, creating a grid. At the intersection of Broad and High is a public square – just as there is at Broad and Market in Philadelphia – and most of Milford’s official buildings are located there. Within the grid, East-West streets are numbered, Second through Seventh, with Broad Street falling between Fourth and Fifth Streets, while North-South streets are named after Judge Biddis’ children: Ann, Catherine, George, John, Sarah and Elizabeth. In between both the named and numbered streets are alleys, named after berries and fruit.

In contemporary Milford, Broad Street is also marked as U.S. Route 6 and U.S. Route 209. At its intersection with Harford Street, Route 6 continues north on Harford, while Route 209 continues south on the street.

Milford is located on an escarpment above the Delaware River. All waterways there which drain into the river fall the 100-foot (30 m) difference in height, creating what is known as a fluviarchy, a network of waterfalls, putatively the most notable one east of the Rocky Mountains. These also provided water power to mills, which contributed to Milford’s economy in the 19th century.