It was the club's sixth home loss in a row, played before a disappointing crowd of 10,574.
After a bright start, the Raiders opened the scoring in the eighth minute when Milford slipped through a half-gap before flick passing to youngster Brenko Lee who crossed beside the posts.
The home side hit back seven minutes later through James Roberts to reduce the margin to two points and they moved to the front soon after.
After deftly scooping up a Terry Campese grubber, Dave Taylor sprinted 70 metres downfield.
In the next passage of play he produced a silky offload to put winger Kalifa Faifai Loa over in the corner.
Kevin Gordon's sideline conversion put the Titans ahead 10-6 but the Raiders regained the lead when Milford started and finished a movement.
The Broncos recruit was in the thick of the action again on the stroke of halftime, producing a brilliant no-look tap-on for Jarrod Croker to storm over under the crossbar and the centre converted to rack up 14 unanswered points for the Raiders.
Canberra started the second half by continually punching holes in the Titans' defence but the tide soon swung.
The video referee controversially overruled a try to Maurice Blair after 55 minutes, but the Titans were not to be denied a minute later when Gordon somehow managed to stay in the field of play as he planted the ball in the corner.
The Raiders regained their composure and a try to Shaun Fensom through a yawning gap in the Titans' defence sealed the result 13 minutes from the final whistle.
Further tries to halfback Josh McCrone and Milford rubbed salt in the wounds before Faifai Loa's second try - after the final siren - added small consolation for the Titans.
- AAP