He made history in qualifying for the 2006 World Snooker Championship by making a 147 break in his match against Mark Selby. He became only the sixth player to achieve a maximum in the tournament, and the first to do so in qualifying (as a result, he earned £5,000; in the main tournament it would have been worth £147,000). He ultimately lost to Selby 4–10, becoming only the second player to lose a World Championship match despite a 147, the other being Ronnie O'Sullivan against Marco Fu in 2003. Milkins also made a maximum break against Xiao Guodong in the fourth qualifying round of the 2012 tournament, and this time he won the match 10–4. He has also been on the wrong end of a 147 in the tournament – Mark Williams completed a 10–1 victory in the first round of the 2005 tournament with a final-frame maximum.