Milford Pond covers 120 acres and is formed by the impoundment of the upper Charles River. The pond receives inflow from several sources, including Huckleberry Brook, Louisa Lake, an intermittent stream, and 17 stormwater outfalls.

There is a boat ramp with access to the pond at Rosenfield Park.

The Upper Charles Bike Trail traverses the southwestern edge of Milford Pond.