The town of Milford was founded in 1793, after Sir William Hamilton obtained an Act of Parliament in 1790 to establish the port at Milford, and takes its name from the natural harbour of Milford Haven, which was used for several hundred years as a staging point on sea journeys to Ireland and as a shelter by Vikings. It was known as a safe port and is mentioned in Shakespeare's "Cymbeline" as "blessed Milford". It was used as the base for several military operations, such as Richard de Clare's invasion of Leinster in 1167, Henry II's Invasion of Ireland in 1171, John's continued subjugation of the Irish in 1185 and 1210 and Oliver Cromwell's 1649 invasion of Ireland; while forces which have disembarked at the point include Jean II de Rieux's 1405 reinforcement of the Glyndŵr Rising and Henry VII's 1485 landing at the waterway before marching on England. By the late 18th century the two local creeks were being used to load and unload goods, and surrounding settlements were established, including the medieval chapel, and Summer Hill Farm, the only man-made structures on the future site of Milford.