On the recommendation of Sir WJ Hooker, he was appointed naturalist on the voyage of exploration of the American west coast and Pacific by Henry Kellett on HMS Herald, 1847–1851, along with the naturalists Thomas Edmondston, and John Goodridge.
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Pisonia umbellifera (J.R.Forst. & G.Forst.) Seem. – Umbrella Catchbirdtree (Indo-Pacific)
Milne, the discoverer of several plants, including the rare New Caledonian tree Meryta denhamii which he found growing on the Isle of Pines in 1853 and sent to the Royal Botanical Gardens in Kew, had botanist Berthold Carl Seemann name the plant Meryta denhamii after Captain Denham (for whom the town of Denham, Western Australia was also named).