Silver Sands is a nice little park in Milford, near a little island that you can walk out to if you want to go out there (though if you're not a strong swimmer, you'll want to get back quickly due to changes in tide).
Parking is free if you're a Milford resident, $5 if you're not. Attendants are good at making sure you're good to go.
After that, you can check out the beach and the boardwalk. The beach is nice to walk on, looking for little shells or giant jellyfish. Bring shoes though, as there are lots of shells (that's a trend for Milford beaches in general... lots and lots of shells). The boardwalk is nice to walk on too, as it's a boardwalk, and you can walk on it.
Overall, if you need a nice beach to go to in the Milford area, this is a nice beach to go to. Just bring shoes.