As of the census of 2010, there were 4,598 people, 1,800 households, and 1,283 families residing in the town.
There were 2,181 housing units, of which 381, or 17.5%, were vacant.
225 of the vacant units were for seasonal or recreational use.
The racial makeup of the town was 97.4% white, 0.5% African American, 0.2% Native American, 0.2% Asian, 0.02% Native Hawaiian or Pacific Islander, 0.2% some other race, and 1.5% from two or more races.
0.9% of the population were Hispanic or Latino of any race.

Of the 1,800 households, 32.7% had children under the age of 18 living with them, 56.3% were headed by married couples living together, 9.6% had a female householder with no husband present, and 28.7% were non-families.
21.3% of all households were made up of individuals, and 5.8% were someone living alone who was 65 years of age or older.
The average household size was 2.55, and the average family size was 2.93.

In the town, 22.9% of the population were under the age of 18, 7.3% were from 18 to 24, 25.4% from 25 to 44, 33.0% from 45 to 64, and 11.4% were 65 years of age or older.
The median age was 41.3 years.
For every 100 females, there were 96.9 males.
For every 100 females age 18 and over, there were 96.9 males.

For the period 2011-2015, the estimated median annual income for a household was $60,000, and the median income for a family was $67,991.
Male full-time workers had a median income of $55,324 versus $34,832 for females.
The per capita income for the town was $33,495.
8.8% of the population and 4.6% of families were below the poverty line.
8.5% of the population under the age of 18 and 3.6% of those 65 or older were living in poverty.
As of the census of 2010, there were 4,598 people, 1,800 households, and 1,283 families residing in the town. There were 2,181 housing units, of which 381, or 17.5%, were vacant. 225 of the vacant units were for seasonal or recreational use. The racial makeup of the town was 97.4% white, 0.5% African American, 0.2% Native American, 0.2% Asian, 0.02% Native Hawaiian or Pacific Islander, 0.2% some other race, and 1.5% from two or more races. 0.9% of the population were Hispanic or Latino of any race.
Of the 1,800 households, 32.7% had children under the age of 18 living with them, 56.3% were headed by married couples living together, 9.6% had a female householder with no husband present, and 28.7% were non-families. 21.3% of all households were made up of individuals, and 5.8% were someone living alone who was 65 years of age or older. The average household size was 2.55, and the average family size was 2.93.
In the town, 22.9% of the population were under the age of 18, 7.3% were from 18 to 24, 25.4% from 25 to 44, 33.0% from 45 to 64, and 11.4% were 65 years of age or older. The median age was 41.3 years. For every 100 females, there were 96.9 males. For every 100 females age 18 and over, there were 96.9 males.
For the period 2011-2015, the estimated median annual income for a household was $60,000, and the median income for a family was $67,991. Male full-time workers had a median income of $55,324 versus $34,832 for females. The per capita income for the town was $33,495. 8.8% of the population and 4.6% of families were below the poverty line. 8.5% of the population under the age of 18 and 3.6% of those 65 or older were living in poverty.
Milton, New Hampshire