Milaca Township is a township in Mille Lacs County, Minnesota, United States. The population was 1,617 at the 2010 census. Milaca is a truncated form of Mille Lacs Lake. According to the United States Census Bureau, the township has a total area of 32.7 square miles, of which 32.5 square miles is land and 0.27 square miles, or 0.77%, is water.