Substitute Sturridge's stunning strike rescued Liverpool a point at Stamford Bridge, with the man himself declaring his goal against his former employers the best of his career.
Shipped off on loan to West Brom last January, some thought his Liverpool career was over, but having impressed Jurgen Klopp, he is now back in favour.
However Milner, who's played with Sturridge for many years with England and Liverpool, says no one ever doubted the former Manchester City and Chelsea star.
Speaking to Liverpool's website Milner said: ''No-one has ever doubted his ability, so much ability; he scores goals, look at his goal record for the club, and he’s a top-quality player, so we are lucky to have that all throughout the squad and hopefully he can keep contributing like that.''
''It took a moment of quality. We created other good chances and didn’t take them but that’s the beauty of having as much quality throughout the squad as we do and players like 'Studge' waiting and chomping at the bit to come on. That’s what he does – he scores goals.''