Career
From July 2007 until December 2010, he played for Košice. In February 2011, Milinković signed contract with Slovan Bratislava. His father Duško "Sulja" Milinković was also a football player and played for Yugoslavia at the 1988 Summer Olympics.
He debuted against Denmark at the Play-off for Final Tournament 2009 EURO U-21 Championship on 11 October 2008.
In second leg against Denmark he scored his first goal. Milinković played first half against Belarus at the 2009 EURO U-21 Championship.