The Milford Ambulance Service began operation in 1974 housed in the former DPW garage and was an all volunteer service. The department moved to the basement of the town hall in 1975 and became a full service staffed department in 1988. Through the years the department grew and had been operating in deficient space. The major deficiencies included 9 and 13 year old vehicles that needed to be replaced but new vehicles would not fit in the town hall location, no vehicle exhaust system, cannot house all the emergency vehicles, no expansion room, not enough room to house current personnel.

The Town of Milford hired Castagna Consulting Group to conduct a facility study to look for a new location, create an efficient   design, create a project budget, and sell it to the voters at town meeting.

After several site considerations and continually modifying the design through programming efforts with the department and the Select Board. A final package went to the voters and passed on the first ballet in 2011 allowing for final design and  construction to begin within the year. The new facility was completed in 2013

The new, 8,110 square-foot single-story wood frame facility on Elm Street has 4 apparatus bays, offices, dorm and training spaces, a kitchen, lab and storage. The building is staffed 24 hours a day, 7 days a week by a combination of career and volunteer professionals.