Milford sits just across the Housatonic River from Stratford. It's the first town over the line in New Haven County. I-95 and the Wilbur Cross Parkway both cross it. The Boston Post Road (US 1) is a long run of stores and plazas, with the Connecticut Post mall as its biggest stop.
Downtown wraps around a long town green near the harbor, and the Metro-North station is a short walk away. The Wepawaug River runs through the middle of it down to the harbor. Devon, on the Stratford side, has its own small center on Bridgeport Avenue. Woodmont is a small borough on the shore near West Haven. In between are beach neighborhoods like Walnut Beach, Laurel Beach and Gulf Beach. At Silver Sands State Park, a sandbar leads out to Charles Island at low tide.
From Fairfield, Milford is a quick drive up I-95 and over the river.