Milsons Park Boat Ramp is a single-lane concrete ramp located in Milson Park at Milsons Point, right in the heart of Sydney Harbour. The ramp is reported to be in good condition and is lit, making it suitable for small vessel launches.

Access to the ramp has been inconsistent, with the gate found locked on some visits and open on others, so boaters should verify access before making the trip. No parking is available on site, and there is no washdown facility. Toilets are located nearby.