| Navy | The Royal Navy |
| Type | Sloop |
| Class | Falmouth |
| Pennant | L 51 / U 51 |
| Built by | Devonport dockyard (Plymouth, U.K.): Yarrow Shipbuilders Ltd. (Scotstoun, Scotland) |
| Ordered | 16 Mar 1931 |
| Laid down | 14 Sep 1931 |
| Launched | 11 Jun 1932 |
| Commissioned | 22 Dec 1932 |
| End service | |
| Loss position | |
| History | Sold 3 June 1949. |
Commands listed for HMS Milford (L 51 / U 51)
Please note that we're still working on this section.
| Commander | From | To | ||
| 1 | Capt. Robert Lionel Brooke Cunliffe, RN | Dec 1937 | 6 Oct 1939 | |
| 2 | Capt. Robert John Shaw, RN | 6 Oct 1939 | 20 Jun 1940 | |
| 3 | Capt. (retired) Sydney Keith Smyth, RN | 20 Jun 1940 | 22 Feb 1941 | |
| 4 | Cdr. (retired) the Hon. Valentine Maurice Wyndham-Quin, RN | 22 Feb 1941 | Early 1943 | |
| 5 | Lt.Cdr. Gerald MacClelland, RN | Early 1943 | Jan 1944 | |
| 6 | Lt.Cdr. Gerald Gordon Slade, RN | 6 Mar 1944 | Oct 1945 ? | |
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Noteable events involving Milford include:
28 Mar 1938
HMS Milford (Capt. R.L.B. Cunliffe, RN) anchored off Gough Island in the South Atlantic Ocean and claimed the island for Britain.