The former Swansea City boss was dismissed by Liverpool two weeks ago after the 1-1 draw with Everton, following a disappointing start to the season, with Jurgen Klopp quickly named as his successor at Anfield.
But Milner insists Rodgers is still a top manager and that the Liverpool squad are disappointed things didn’t work out for him in the end on Merseyside.
"I have had quiet managers, animated managers foreign, English, British, different styles. I have seen a lot - young and old," he is quoted as saying by the Echo.
"We are disappointed for Brendan as I feel he is a top manager. Brendan was right up there with the best and I am disappointed for him but football changes, we move on and we wish him all the best."
Klopp is now in charge at Anfield, with his appointment generating excitement from everyone connected with the club and indeed the Premier League.
There is hope that he can take Liverpool that one step further that Rodgers and guide them to the title, with the German announcing in his first press conference that he would be surprised if they hadn't won a title by the end of his initial four-year contract.
And Milner is pleased they have swapped one top manager for another, suggesting his appointment is great for English football.
"We have a fantastic manager with a great record and it is great for English football," he added.
"He obviously has got a great record. You try and learn from each one and they all have strengths and weaknesses. I’ve been blessed to work with a lot of top managers and now here is another one."