Robert Green also gets the nod ahead of Joe Hart and David James to start in goal for the Three Lions.
Milner seemed a doubt for the starting line up after suffering from a stomach bug for much of the week.
However, it seems Fabio Capello is set to start the wide-man in England's opening World Cup game.
At the back, Ledley King partners John Terry in the heart of defence, while Emile Heskey seems set to partner Wayne Rooney up front.
The England line-up to play USA:
Johnson, Terry, King, A Cole
Lennon, Lampard, Gerrard, Milner
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