He was a Serbian film and theater actor. Milenković was born in Niš, where he  began his acting career at the National Theatre in Niš. He later moved to Belgrade Drama Theatre, where he played until his retirement. For some time he was a professor of literature in Niš. He has acted in over 30 movies, over 300 TV shows (drama series) and 150 theatrical productions. He died at the age of 80.