The 45-year-old replaced interim coach Markus Schopp, who was not offered the post despite leading Sturm to fourth place in the Austrian Bundesliga and a place in the Europa League qualifiers.
Former Slovenia defender Milanic won two Austrian league titles during a seven-year spell as a player at Sturm and was assistant coach for a season.
Maribor retained the Slovenia league title this season, winning it for a record 11th time.
- Sports & Recreation
- Austrian Bundesliga
- Markus Schopp