Milgrom grew up in Detroit, Michigan.

Early career

Milgrom got his start in 1972—1973 as an assistant for inker Murphy Anderson. During that period, Milgrom contributed to Charlton Comics' Many Ghosts of Doctor Graves, Star*Reach, and comics put out by Warren Publishing and Atlas/Seaboard, before latching on with Marvel. (Milgrom also worked as a "Crusty Bunker" for Neal Adams' Continuity Associates in 1977.)

Penciller

Milgrom came to prominence as a penciller on Captain Marvel vol. 1, from 1975—1977. He penciled Marvel Presents from 1976—1977. Over at DC in 1978, Milgrom co-created Ronnie Raymond, the original Firestorm with writer Gerry Conway. Milgrom spent long stints on Peter Parker, the Spectacular Spider-Man (1982—1984), The Avengers (1983—85), and West Coast Avengers (1985–1989). Other comics Milgrom has pencilled include The Incredible Hulk, the limited series Kitty Pryde and Wolverine (1984—85) and Secret Wars II (1985—86), and numerous one-shots, annuals, and specials.

Writer

As a writer, Milgrom has worked on titles such as Peter Parker, the Spectacular Spider-Man (1984—85), Incredible Hulk (1986—87), the Mephisto limited series (1987), and Amazing Spider-Man vol. 1 (1991).

Inker

Milgrom has been a very prolific inker, working on many books including most of Marvel Comics' line at one point or another. He served an impressive eight-year stint as the inker of X-Factor from 1989—1997. He inked Ron Frenz for a four-stint on Thor from 1991—1993, and Thunderstrike from 1994—1995. Other series he has worked on include Captain America, Generation X, The Micronauts, and the Uncanny X-Men, to list only a few.

Milgrom inked the limited series A-Next, J2 , The Lost Generation, and Thanos. Beginning in 1996, Milgrom completed his artistic journey on Spectacular Spider-Man by inking the title until its cancellation in 1998.

More recently Milgrom has inked for Archie Comics.

Editor

Milgrom was a Marvel editor through much of the 1980s, most notably presiding over Epic Comics with Archie Goodwin, and editing Marvel Fanfare vol. 1 for its full ten-year run (#1-60, 1982—1992).

Milgrom temporarily left Marvel in 2000 after insulting just-departed editor-in-chief Bob Harras with a phrase hidden in a comic he inked.

Milgrom was nominated for the Shazam Award for Outstanding New Talent in 1974.

Milgrom also won a 1982 Comics Buyer's Guide Fan Award, tying Len Wein for Favorite Editor.

In 2009, his Cleburn: A Graphic Novel, with Justin S. Murphy, was nominated for the Independent Book Publishers Association’s Benjamin Franklin Awards.

Milgrom married Judy Lewin (also from Detroit) in the spring of 1979. They had a daughter, Rachel Gail Milgrom, born February 1982, and a son, Ben, born in 1988.