At the end of 1806 he was promoted to general of division and in 1807 he distinguished himself at the Battle of Eylau against the Russians. His performance brought him to the attention of Napoleon Bonaparte, and having already been awarded the Légion d'honneur, on 10 March he was made a Count of the Empire. From 1808 until 1811 he fought in the Peninsular War. In November 1811 he was put on disability but in June 1812 he was recalled to active service and made commandant of the 25th military division. During the invasion of Russia, he became for a short time the military commandant of Moscow. In 1813 he commanded a cavalry corps at the Battle of Leipzig. He fought, October 10, 1813, in the plain of Zeitz, one of the best fights of cavalry mentioned in French military annals, and in which he completely destroyed regiments of Austrian "Latour" and "Hohenzollern" Dragoons, as well as the "Kaiser" Chevau-légers. Based on his experience with these commands in 1814 Milhaud became Inspector General of the cavalry. During the first Restoration he was given command of the 15th military division by Louis XVIII. During Napoleon's Hundred Days, he immediately supported Napoleon, and in the Waterloo campaign he commanded the IV Cavalry Corps. At the Battle of Ligny on 16 June 1815 with his cuirassier divisions he broke the centre of the Prussian army and helped to win Napoleon's last victory. Two days later at the Battle of Waterloo 18 June his divisions took part in the great general cavalry assault on the allied centre, a plan he had opposed but had to execute. The attacks ultimately proved a failure. After the second restoration Milhaud was banished by King Louis XVIII as a regicide. After the July Revolution in 1830, he was called back to France, but died on 10 December 1833 in Aurillac.