 At the end of the 2012–13 season, Milsom was among ten players to be released by the club upon expiry of his contract.Milsom signed for League One club Rotherham United on a six-month contract on 24 June 2013.After being on the bench for the first two games of the season, Milsom made his debut for the club, where he came on in place of Michael O'Connor in the 85th minute, in a 2–1 win against Crawley Town on 17 August 2013.