An early settlement grew up here at the Mud River crossing of the James River and Kanawha Turnpike. A covered bridge that replaced the ferry in 1875–1876 stood until recently. When the community became a stop on the C&O Railway in the 1870s, it developed as a regional commercial and small-scale industrial center and was incorporated as the town of Milton in 1876. The entire business section burned in 1911, and the town's commercial buildings postdate the fire. The railroad and a good supply of natural gas were factors inducing William Blenko to locate his stained glass company here.
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