In a second voting round, Milanovic received 828 votes, while his opponent Zeljka Antunovic received 675.
The second voting round was held after none of the four candidates who ran for the post received the required majority vote in the first round.
In the first round, Milanovic received 592 votes, while Atunovic received 381. The other two candidates, Milan Bandic and Tonino Picula, received 313 and 248 votes respectively.
Milanovic is the successor of Ivica Racan, who died on April 29.