“Milestones” is a jazz standard composed by Miles Davis, which first appeared on his album of the same name. It is one of the first serious ventures into what is now known as modal jazz, featuring an AABBA structure where the A part is in the dorian mode and the B part is in the aeolian mode. In comparison to bebop and hard bop, the dominant styles of jazz at the time, it sounds more ambient and open-ended. This composition can be seen as a prelude to Davis' famous album Kind of Blue, which is in its entirety an exploration into modal jazz.