Blot the milk from the carpet with a dry washcloth if the stain is wet.
Combine 1 tablespoon liquid dish soap with 2 cups warm water to remove the milk stain.
Blot the cleaning solution onto the stain using a washcloth until the milk is gone.
Rinse the solution from the carpet with clean water.
Sprinkle baking soda over the wet carpet. Let the baking soda dry overnight.
Vacuum the baking soda off the carpet. You may need to loosen the baking soda with a stiff brush.
Spray fresh lemon juice over the stain if the odor remains. Mist the carpet with lemon juice but do not oversaturate because you can damage the carpet padding.
Let the lemon juice set for 15 minutes. Rinse the carpet with clean water to remove the lemon juice.
Blot the carpet with a dry washcloth to remove excess water.