Richardson and his two older brothers, Joseph Clement Richardson and Edward Lunsford Richardson, attended R-MC together in 1859-1860. Milton joined Co. I of the 3rd NC Cavalry with his brother Edward at the age of 17 in early 1862. A substitute, William R. Pool, was provided for him in July 1862, and Richardson's service was over.
Milton completed his education during the war, graduating from the University of North Carolina in 1865. By 1870, he was practicing law in Clinton, NC, and living in a hotel. He married the hotel-keeper's daughter and continued as an attorney through at least 1900.
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