Milson is a brown-furred goat and is Shorty's pet. He acts very mundane but upon hearing a bell, he becomes rallied and rampages.
In Tangled, Milson was briefly shown for comedic relief during the song I've Got a Dream to take away the negative attention Eugene Fitzherbert got in the Snuggly Duckling.
In One Angry Princess, Milson followed Shorty around throughout the day of a crime, and after hearing a bell, he wrecked Monty's shop.