Born in Glen Ridge, New Jersey, Milford grew up in Winnetka, Illinois. Milford first appeared at the stock theatre in Chicago at age 10 and by age 17, he was in the original stage version of Hair on Broadway, playing Woof and Claude. In 1976 he was awarded the Faith and Freedom Award by the Religious Heritage of America for his portrayal of the Prodigal Son in ABC Directories series Round Trip. Milford later performed in the first concert tour of Jesus Christ Superstar playing Jesus and Judas.
His most famous role came in 1974, when he appeared in the original American production of The Rocky Horror Show as Rocky Horror in both the Roxy Cast and in the Broadway Production. He reprised his role in the 1980 - 81 North American Tour.
Milford briefly became vocalist for supergroup Beck, Bogert & Appice (Jeff Beck,Tim Bogert and Carmine Apiece) for six performances between July 24 to August 7, 1972. He was also the front man for his own band, Moon, and recorded an album Chain Your Lovers to the Bedposts and a single, "Help is on the Way, Rozea" in 1974. Additionally, Milford composed the music for Salome, based on the Oscar Wilde play and also starred in it at Mark Taper Forum in Los Angeles in 1979. He wrote and performed "My Love is a Rebel" on the soundtrack of Limbo, starring Barry Bostwick, and his song "Justice" appeared on the Ciao! Manhattan soundtrack.
Milford tragically died at the age of 37 in June of 1988 from heart failure, a few weeks after having had open-heart surgery.
1989: Escape - Zoka
1988: Death Street USA - Albino's Henchman
1986: Wired to Kill - Rooster
1986: Crime Story (TV Series/Pilot) - Babe Petro
1978: Bloodbrothers - Butler
1978: Corvette Summer - Wayne Lowry
1978: Laserblast - Billy Duncan
1976: Round Trip - The Prodgal Son 1975: Sunshine (TV Series) - Eric
1975: The Wide World of Mystery (TV Series) - Kim
1975: Song of the Succubus (TV Movie) - Kim
1974: Mannix (TV Series) - Chris Lockwood
1971: Mod Squad (TV Series) - Johnny (as Richard Kim Milford)