Walking is a convenient way to explore certain areas of Milford, particularly its vibrant downtown. The downtown district features well-maintained sidewalks, pedestrian-friendly streets, and a variety of attractions within close proximity, including restaurants, shops, and the historic Milford Green. The area’s compact layout makes it easy to navigate on foot, and the presence of the Metro-North train station adds to its accessibility. However, walking may be less practical for reaching locations outside the downtown area, as distances can increase and pedestrian infrastructure may be less consistent.

Cycling in Milford offers some opportunities for transportation, with local bike routes and infrastructure supporting biking in certain areas. The town’s layout includes access to regional bike paths, making it possible to reach some destinations by bike. However, the ease of biking may vary depending on the specific route, as not all areas are equally accessible. Riders should consider the distance and terrain when planning trips, as well as the availability of bike-friendly paths.

米爾福德的公共交通主要由米爾福德交通局營運，提供連接市內及鄰近地區主要地點的巴士路線。巴士班次頻密，是沒有私家車人士出行的實用選擇。不過，路線及班次安排可能需要預先計劃，以確保行程準時。當地基建支援可靠的公共交通，但使用公共交通的便利程度則視乎車站與目的地的距離及服務頻率而定。