Milford was founded in 1831, and named for the nearby watermill on a ford of the Licking River. A post office has been in operation at Milford since 1832.
- U.S. Geological Survey Geographic Names Information System: Milford, Kentucky
- Toncray, Marla (March 9, 2012). "History, origins and towns of Bracken County". The Ledger Independent. Retrieved 11 January 2016.
- "Bracken County". Jim Forte Postal History. Retrieved 11 January 2015.