Milton was settled around 1829, and by 1840 it had become a prominent village of Autauga County. It was known as "Milton City" when the 1886 flood buried it in sand. Among the early families were Wm. L. and Sarah Taylor and Elihu and Elizabeth Parr Bates. Dedication of monuments to them at the site of the original Milton Church and graveyard took place on 1 May 1980, led by their great-granddaughter "Lady Bird" Taylor Johnson, wife of the 36th President of the United States.