Milford Township is a township in Juniata County, Pennsylvania, United States. The population was 1,989 at the 2020 census, a decline from the figure of 2,088 tabulated in 2010.

Juniata County is a county in the Commonwealth of Pennsylvania. As of the 2020 census, the population was 23,509. Its county seat is Mifflintown. The county was created on March 2, 1831, from part of Mifflin County and named for the Juniata River. The county is part of the Central Pennsylvania region of the state.