The Evo-Stik League Southern
Published 4th May 2012
Milsom has been caretaker-manager since the sacking of Rob Dray at the end of March following a string of poor results.
Milsom, who is 51, played for Cirencester Town, Clevedon Town, Weston-super-Mare and Bridgwater before turning to management.
He has steered Bridgwater to four victories since taking charge and was the favourite to get the job.
Bridgwater ended the season with a 3-2 home win over Didcot Town and finished fifteenth in the table.
Milsom said: "I have really enjoyed my time in charge so far and I could not have asked any more from the players.
"They have expressed themselves and played with no fear.
"They showed plenty of character in fighting back to beat Didcot after falling a goal behind."