Milford is a town in Penobscot County, Maine, United States. It is located across the Penobscot River from the city of Old Town. The population of Milford was 3,069 at the 2020 census. The town's slogan is the "Best little town by a dam site," referring to the Milford Dam abutting Milford on the Penobscot River, south of the Penobscot Indian Island Reservation.