Milford is a town in Worcester County, Massachusetts, United States. The population was 30,379 according to the 2020 census. It contains the census-designated place of the same name. First settled in 1662 and incorporated in 1780, Milford became a booming industrial and quarrying community in the 19th century due to its unique location which includes the nearby source of the Charles River, the Mill River, the Blackstone River watershed, and large quantities of Milford pink granite.