From 1959 to 1960, Milford was cast in ten episodes as the historical Ike Clanton on the ABC/Desilu series, The Life and Legend of Wyatt Earp, starring Hugh O'Brian as Wyatt Earp. Milford's last episode is entitled "Wyatt's Bitterest Enemy". Trevor Bardette appeared on the series in the role of Newman Haynes Clanton, or Old Man Clanton, Ike's father.