This is one of the oldest parishes in the municipality of Odemira in Alentejo, perhaps the best known for being on the Costa Vicentina. Founded by royal decree of King João II in 1486, Vila Nova de Milfontes was a municipality, later added to Odemira, during the administrative reforms of the 19th century. The town grew by the mouth of the river Mira, developing from the fluvial-maritime port, having for several centuries even constituted an anteport of Odemira.
The town has had a troubled history for centuries, faced with the dangers coming from the sea: piracy and privateering. Record episode was in 1590, when a powerful attack by corsairs destroyed the village.
Faced with the need for security in the town and in navigation, the São Clemente fort was built between 1599 and 1602, in the time of King Filipe II.
Vila Nova de Milfontes is linked to the great achievement of Portuguese aviation, which was the first air crossing between Portugal and Macau, carried out by Brito Paes and Sarmento Beires. It was on April 7, 1924, that the pilots left Campo dos Coitos, near Milfontes, heading for the East. In honor of the aviators and their historic achievement, a monument was erected in Praça da Barbacã, next to the fort, which recalls the heroic journey. It should be noted that Commander Brito Paes was from the municipality, specifically from Colos.
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