Milford's downtown City Park and South City Park offer playground and picnic facilities for large groups and small gatherings. Welch Park Ballfield Complex houses three ball fields and a refreshment stand. Also available are basketball courts, tennis courts and a sand volleyball court.

The Milford Swimming Pool is open during the summer months

Recreation:  The recreation program offers city recreation programs for team sports year-round, including basketball, Coed adult volleyball, baseball and softball.

Thornridge Golf Course in southwest Milford is a public nine-hole course with a fine reputation. A driving range is adjacent to the golf course.