Milroy is a census-designated place in Anderson Township, in the southern part of Rush County, in the U.S. state of Indiana.
As of the 2020 census, Milroy had a population of 628.
Milroy was laid out and platted in 1830. The Milroy post office has been in operation since 1832.
The community contains Milroy Elementary School, a public school in the county school district.