Suncroft led 1-5 to 0-7 at half-time, but second-half goals from Colin O'Shea and Paddy Donoghue helped Milltown turn the contest in their favour.
Milltown have been crowned Kildare Intermediate Football Champions for the first time since 1972, following a dramatic one-point victory over Suncroft at Cedral St Conleth's Park on a windy Saturday evening.
After the sides couldn't be separated in last weekend's final, Milltown secured the win in the replay by 2-10 to 1-12.
Suncroft led 1-5 to 0-7 at half-time, but second-half goals from Colin O'Shea and Paddy Donoghue helped Milltown turn the contest in their favour.
Fionn Dowling led Suncroft's fightback, finishing with eight points, as his side reduced a three-point deficit to just one in the closing minutes.
Suncroft had a final opportunity to snatch victory, but Dowling's late two-point free went wide.
The result ends a 54-year wait for another Intermediate title for Milltown, who will also return to senior football next season following their championship triumph.
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