Villa booked their place in the Carling Cup final with a 6-4 win, giving them a 7-4 aggregate win.
A brace from Nikola Kalinic but Rovers ahead, but Villa managed to bounce back.
Milner scored Villa’s second goal from the spot.
Milner told BBC: “We started very poorly and that put us under a lot of pressure but credit to the lads, we battled back, we achieved the objective and we’re going to Wembley.
“Obviously getting to a final’s fantastic, we’re moving forward. The fans were fantastic tonight, I don’t know what they were thinking when we were 2-0 down but they kept shouting and it’s great for them and for us as a football club – and hopefully we can go and win it.”
