Despite a promising first half, Milltown found themselves under pressure after the restart as the visitors reduced their advantage to a single point.
Milltown have secured their place in the Leinster Intermediate Football Championship semi-finals following a 1-13 to 1-10 victory over Meath champions Duleek-Bellewstown.
The Kildare champions came through a closely contested quarter-final on Saturday afternoon.
Despite a promising first half, Milltown found themselves under pressure after the restart as the visitors reduced their advantage to a single point.
Then a crucial goal from Conor Sheerin helped Milltown regain control, before Alan Dignam extended their lead.
Duleek-Bellewstown threatened another comeback in the closing minutes, but a late point from Ben Curran helped the Kildare side secure a three-point victory.
Dignam finished with five points as Milltown continued their provincial campaign, just three years after winning the Leinster Junior Championship.
They now advance to the final four.
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