Milton was founded in 1791 by Andrew Straub, a millwright and miller. The waterfront location, on the Susquehanna River, provided energy for factories and a means to move goods for various industries in the 1800s.

Trains soon replaced canal boats and Milton became a transportation hub for Reading and Pennsylvania Railroads.

The diverse architectural styles throughout the town, Historic Downtown Walking Tour, and Model Train Museum are just a few of the unique reminders of Milton's rich history. Facade murals can be found throughout the town and offer bright, colorful representations of what the town was, and what it can be in the modern era.