Throughout the 1990s, Milliken starred as Jo Moody in a series of telemovies with Robert Taylor, called The Feds, and in 1999 starred in Paperback Hero, as well as guest starring on Farscape and Stingers. In 1992 she was in the film Eight Ball and in 1996 she memorably featured in Dead Heart.
Milliken first became noticed when she starred in the 1991 made-for-TV movie Act of Necessity for which she was nominated for an Australian Film Institute (AFI) Award.
She regularly performed on stage for Sydney Theatre Company and became a well known face in the Australian film and television industry. In 2001, she won an AFI award for her role in My Brother Jack and then starred in the acclaimed The Shark Net (2003).
From 2003 to 2005 Milliken starred as Amanda McKay, a Lawyer, on MDA, winning an AFI Award in 2003.
Milliken starred in The Condemned in 2007 and has also appeared in an episode of CSI: Miami. Milliken played Jamie Thompson's mother in This Isn't Funny in 2015.
In 2012 Milliken returned to stage acting in Benedict Andrews’ Every Breath for Belvoir Street Theatre and The Effect, a joint project of the Sydney Theatre Company and the Queensland Theatre Company.
