Milner, who is on a month's loan from Leeds, said: "I enjoyed it to be honest. It was a quick game and we were playing one of the top teams in the league.
"It was quite a tough encounter and although we took a point, I thought we could have taken all three.
"It was my first game for Swindon and I think it will take me at least one more match to get adjusted to the league," he told the club website.