 Born in Arpajon-sur-Cère (Cantal) as the son of Louis Amilhaud and Marguerite Daudé, Milhaud was commissioned as an officer in 1789.During the French Revolution, Milhaud was elected to the National Convention (which aimed at giving France a new political constitution) and in the of Louis XVI he voted for the death of the king.He defended Jean-Paul Marat against the attacks of the Girondins.