Retired professional Neil Mellor and ex-Manchester United star Dwight Yorke also took part in a bid to raise money for the foundation, which donates to cancer research, the NSPCC and Help for Heroes.
"I've been involved with the NSPCC for years now and the charity does some amazing work which can help change lives," Milner told the club's official website. "Help for Heroes is another great charity. Sometimes we're described as heroes, but they are the real ones putting their lives on the line every day to make the world a better place.
"So many people are also affected by Leukaemia and Lymphoma including my friend Stiliyan Petrov, so when he was diagnosed we added this to our list of beneficiaries.
"There was a great turnout and we had great support from so many people including some of my teammates. It was a great day and we really appreciate everyone's help."