|Date of birth||6 March 1954|
|Place of birth||Vlasotince, DF Yugoslavia|
|Date of death||25 July 2020(aged 66)|
|Place of death||Belgrade, Serbia|
|* Senior club appearances and goals counted for the domestic league only|
Milenković began his career with his hometown club FK Vlasina. In 1973, he signed with FK Dubočica, and played with the club until 1975. In the summer of 1975 he played in the Yugoslav First League with OFK Belgrade where he captained the team for eight years. In the summer of 1986, he played abroad in Canada's National Soccer League with Toronto Italia. He assisted Toronto in securing the NSL Championship by defeating Toronto Blizzard. In 1987, he returned to conclude his career with OFK Belgrade. In 1987, he played with the Hamilton Steelers.
In 1996, he served as the head coach for OFK Belgrade in the First League of FR Yugoslavia. He later served as a club official for OFK Belgrade in the capacities of the director of the stadium, and general secretary.
- "VLASOTINCE TUGUJE ZA LEGENDOM MILENKOVIĆEM: Tus je bio dika Vlasine, ne možemo da verujemo da je izgubio bitku sa koronom". NOVOSTI (in Serbian). 28 July 2020. Retrieved 11 December 2020.
- M.D.S (25 July 2020). "SRBIJA U SUZAMA ZBOG SMRTI POSLEDNJEG ROMANTIČARA Preminula legenda beogradskog fudbala, ostaće upamćen po neverovatnom podatku!". Blic.rs (in Serbian). Retrieved 11 December 2020.
- "OFK Beograd". www.ofkbeograd.co.rs. Retrieved 11 December 2020.
- Da Costa, Norman (11 August 1986). "Singapore tournament big test as Canada aims at '88 Olympics". Toronto Star. p. B5.
- Koep, Bob (25 September 1986). "Italia blanks Blizzard for playoff cup". Toronto Star. p. D7.
- Trajković, Jelena (25 July 2020). "Preminuo Božidar Milenković". N1 Srbija (in Serbian). Retrieved 11 December 2020.
- "Preminuo Božidar Milenković". B92.net (in Serbian). 25 July 2020. Retrieved 11 December 2020.
- Jugpress, Postavio (25 July 2020). "Od korone virusa preminuo Božidar Milenković "Tus"". JUGPRESS (in Bosnian). Retrieved 11 December 2020.