Milroy Township is one of thirteen townships in Jasper County, Indiana, United States. As of the 2020 census, its population was 256 (down from 276 at 2010) and it contained 102 housing units.
According to the 2010 census, the township has a total area of , all land.
The township contains one cemetery, Milroy.
Milroy Township residents are eligible to obtain a free library card from the Jasper County Public Library.