Milford is a village in the civil parish of Belper, in the Amber Valley district, in the county of Derbyshire, England. It is on the River Derwent, between Duffield and Belper on the A6 trunk road. Until the end of the 18th century it was no more than a few houses near the point, about a quarter of a mile further south, where a Roman road from the Wirksworth lead mines forded the river.