The Milford Historical Society seeks to spread knowledge of the history of Milford, Michigan and the community thereof. To this end, they have established a museum and a research and archives room. The museum is housed in an 1853 Greek revival home, originally erected by a local cabinet maker. The building has previously been a home to local merchants and the offices for Milford Village, Milford Township, and the local police department. The upper floor is furnished in a late Victorian style, and contains locally made furniture. In contrast, the lower floor recreates 1830s cabin life.

The society offers museum exhibits and a research room.