The former Fulham man had the easiest of finishes after some great work by Josh Magennis to break the deadlock only 12 minutes into the match.
He said: "We knew it was a big game as results haven't been going our way recently.
"It has been the same for Inverness so we knew it was massively important to get a result and we managed to get a couple of goals too. We needed a first win and I'm sure this will be a stepping stone to getting more good results."
The Dons welcome Dundee in the second round of the Scottish Communities League Cup on Tuesday and Milsom is hopeful his side can go on another good cup run after reaching two semi-finals last term.
He added: "We want a good cup run, similar to last year. That will be an important game and then we have Rangers at Ibrox which is another massive game to look forward to."
Source: Team Talk
Source: Team Talk