Milena Tůmová is a former ice dancer who competed for Czechoslovakia. With Josef Pešek, she became a three-time national medalist and competed at four ISU Championships. The duo finished in the top ten at the 1968 European Championships in Västerås, Sweden, and 1969 European Championships in Garmisch-Partenkirchen, West Germany. They placed 12th at the 1968 World Championships in Geneva, Switzerland. They represented Prague.