Gençlerbirliği S.K.
From July 2007 until December 2010, he played for Košice. In February 2011, Milinković signed a contract with Slovan Bratislava. In May 2016 he signed with Gençlerbirliği S.K.. His father Duško "Sulja" Milinković was also a footballer and played for Yugoslavia at the 1988 Summer Olympics.