Archaeological excavations near Milovice showed that people lived here already 6000 years ago - in the Younger Stone Age. The first written evidence of the village is probably from 1197 in connection with a religious message.

The dominant landmark in the village is a parish church consecrated to St.Peter and Paul which can be traced back to 1384. The baroque-like appearance of the former Gothic Church can be traced back to 1758.

In the park in front of the new cemetary (founded 1877) three statues can be found: St. Jan Nepomucký (from 1812), St. Francis from Paula (from 1799) and Virgin Mary (from 1899).

Two other monuments commemorate the Austro-Prussian war of 1866.