| Official Name: | Milford Township |
| Settlement Type: | Township |
| Subdivision Type: | Country |
| Subdivision Type1: | State |
| Subdivision Type2: | County |
| Subdivision Name2: | Story |
| Unit Pref: | Imperial |
| Area Total Sq Mi: | 37.2 |
| Area Land Sq Mi: | 37.2 |
| Area Water Sq Mi: | 0.0 |
| Area Water Percent: | 0.0 |
| Population As Of: | 2000 |
| Population Total: | 569 |
| Population Density Sq Mi: | 24 |
| Elevation Ft: | 991 |
| Coordinates: | 42.0775°N -93.5219°W |
| Postal Code Type: | ZIP Code |
| Postal Code: | 50010 |
| Area Code: | 515 |
Milford Township is a township in Story County, Iowa, United States. As of the 2000 census, its population was 569.
Milford Township covers an area of 37.2mi2 and contains a small portion of the incorporated town of Ames. According to the USGS, it contains four cemeteries: Brouhard Cemetery, Evergreen Memory Gardens, Knoll Cemetery and Pleasant Grove Cemetery.
Interstate 35 runs north and south through the township and County Road E29 runs east–west.
Story County maintains McFarland Park which is a 200acres area located in northwest Milford Township. Visitors can explore a variety of ecotypes including tallgrass prairie, woodland, and stream habitats. The park has 5.5miles of trails that are open to hiking and off-road biking, but interior trails with stairs are closed to bicyclists. The park includes a 6.5acres lake stocked with bluegill, bass, and catfish. Winter activities include ice fishing and cross-country skiing.