He is the son of the late Robert J. and Irene M. (Staley) Milroy.
Milroy volunteered several days a week playing piano at the Rhinebeck Town Hall, the Thompson House, and the Baptist Home. He worked for 31 years as a letter carrier in the village of Rhinebeck, retiring in 1982.
Milroy was a member of the Third Lutheran Church of Rhinebeck.
A WWII Army veteran, he studied art at the New York Phoenix School of Design in New York City.
Milroy, who never lost his love of art, had several local exhibitions of his paintings and sketches. He also painted the village's Welcome to Rhinebeck signs and the "cigars" stenciling for the smoke shop.
Milroy was predeceased by his wife, Beverly (Bissett); three brothers, Donald, Guy, and Roger Milroy; and three sisters Bobbette Milroy, Vivien Stickel, and Irene Whittaker.
He is survived by his son, Randall, of Ellenville; four daughters, Kim Adamo of Clifton, Va., Roberta Maggiacomo of Hyde Park, Jane Milroy of Poughkeepsie, and Kathryn Sappie of Hazle Township, Pa.; 10 grandchildren, Christopher, Colin, Daniel, David, Evan, Jeremy, Kristy, Matthew, Melissa, and Nikki; and 12 great-grandchildren.
Friends may call at the Dapson Chestney Funeral Home, 51 W. Market St., Rhinebeck, from 5 to 8 p.m. on Friday, March 3.
Funeral services will be held at the Third Lutheran Church at 31 Livingston St., Rhinebeck, at 11 a.m. on Saturday, March 4.
Burial, with military honors, will be in the Rhinebeck Cemetery.
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