HMS Milford was a 32-gun fifth rate built under contract by William Hubbard of Ipswich in 1694/95.
She was the second vessel to carry the name Milford since it was used for a 32-gun fifth rate built at Woolwich Dockyard on 30 March 1690 and captured by the French in the North Sea in November 1693.
She was ordered on 17 May 1694 to be built under contract by William Hubbard of Ipswich. She was launched on 6 March 1695. Her dimensions were a gundeck of with a keel of for tonnage calculation with a breadth of and a depth of hold of . Her builder's measure tonnage was calculated as 386 tons (burthen).
The gun armament initially was four demi-culverins on the lower deck (LD) with two pair of guns per side. The upper deck (UD) battery would consist of between twenty and twenty-two 6-pounder guns with ten or eleven guns per side. The gun battery would be completed by four 4-pounder guns on the quarterdeck (QD) with two to three guns per side.
HMS Milford was commissioned in 1695 under the command of Captain Thomas Lyell for service in the North Sea on Fishery protection.
She was taken by five French ships while on passage from Greater Yarmouth to Holland on 7 January 1697. She was incorporated into French Service as the Milfort until 1720.