The universally popular 46-year-old is currently the club's head of academy coaching, having been a part of the some of Cheltenham's greatest achievements on the pitch during six seasons as a player.
Folkestone-born Milton's playing career started at Arsenal before a spell in Hong Kong, where he played alongside Brazilian great Socrates.
He returned to English football with Dover Athletic in his home county of Kent, helping the Lilywhites win the Southern League title in 1992/93, when the Robins finished as runners-up.
A stylish, left-footed midfielder, Milton signed for Cheltenham in the summer of 1997, helping them win the FA Trophy in 1998 and the Conference title in 1999 under Steve Cotterill's management.
It was substitute Milton who set up the winning goal for Jason Eaton with a free-kick at Wembley as the Robins beat Southport 1-0 to lift the Trophy in front of 18,000 jubilant fans from Gloucestershire.
He was named player of the year in the club's debut season in the Football League and netted a free-kick against Burnley in a famous FA Cup fourth round victory at Whaddon Road in 2002.
Milton left the club in 2003, going down as one of the most elegant and naturally gifted players ever to grace Whaddon Road. He joined Bath City briefly before hanging up his boots, running a soccer school for kids in association with Arsenal, while covering Cheltenham matches as an expert analyst for BBC Radio Gloucestershire.
He returned to Cheltenham in 2010 and has helped bring through several promising young players who have stepped up the first team squad and made an impact at League Two level.
Milton was in the dugout with then boss Mark Yates on the final day of last season for the home match against Dagenham and Redbridge following the departure of number two Neil Howarth and he will now lead the team against Bury, supported by the returning Steve Elliott, Steve Book and Ian Weston.
Tickets for the match will be available at Whaddon Road tomorrow and they can also be purchased online here