Milford Common () is a popular recreation spot for local people, and has traditionally been the site of many travelling fairs. The open space and quiet roads around the Common have made it a popular gathering point for horse riders from surrounding areas. The entrance to the
National Trust Shugborough estate faces the common. Shugborough houses the county's official museum.
Cannock Chase AONB is nearby. Its borders extend to about a mile south of the village, and the extensive Chase area offers a variety of outdoor activities including several leisure cycling routes.
Milford Hall is a privately owned 18th-century country mansion house at Milford. It is the home of the
Levett Haszard family and is a Grade II listed building. The
Staffordshire Way long-distance footpath passes very near Milford, to the south-east. It also lies on the
Heart of England Way. ==Access==