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Update: I have now upgraded to CyanogenMod 7 (based on Android 2.3). Please check this post for details. The steps are similar to what is mentioned in this post.

This post is about how I got CyanogenMod installed and running on the Motorola Milestone. More information on CyanogenMod can be found here or here. The Milestone port of CyanogenMod was made by nadlabak

Disclaimer Proceeding further means you understand what you are doing. I am not responsible for any damages that might occur! This might also void your warranty. This worked for me.

1. Backup all important data. Data on the SD card like photos, music will not be affected. SMS messages, call logs and music playlists will be gone. If you have lots of messages, you could try one of the SMS Backup apps from the market, which will save all your messages to GMail or SD card. It would be wise to check on a per-app basis to see if the data is stored locally or in the cloud.
2. Flash vulnerable recovery. Without this the remaining steps will not work! Please see this link for instructions.
3. Download androidiani-openrecovery from
   http://code.google.com/p/androidiani-openrecovery/downloads/list.

   Current version: OpenRecovery-3_3.zip

4. Connect your phone using USB to the computer for Memory card access.
5. Extract the downloaded OpenRecovery-3_3.zip to the root of the SD card. You will have a folder called OpenRecovery and a zip file called update.zip
   
6. Download CyanogenMod for Milestone from http://code.google.com/p/cyanogenmod4milestone/downloads/.

   Current version: update-cm-6.1.2-0.05-10.12.27-Milestone-signed.zip

7. Copy the zip file to sdcard/OpenRecovery/updates.

8. Google apps are not included in the CyanogenMod ROM. To get them download the HDPI version for CyanogenMod 6 from http://wiki.cyanogenmod.com/index.php?title=Latest_Version/Google_Apps.

   Current version: gapps-hdpi-20101114-signed.zip

9. Copy the zip file to sdcard/OpenRecovery/updates.

   

10. Make sure the Phone is fully charged. Power off and start in recovery mode.

    1. Press and hold the camera button and power on the phone. You will see a screen like the one below.

       

    2. Press the volume up button and the camera button simultaneously to bring the recovery menu

       

    3. Using the volume button, highlight the second option apply sdcard:update.zip

       

    4. Use the middle button on the d-pad of the hardware keyboard to select the highlighted option. This will launch the Androidiani OpenRecovery that was downloaded in the second step.

    5. Using the volume keys, select the three wipe options below and apply them using the d-pad:

       Wipe Dalvik Cache
       Wipe Data / Factory Reset
       Wipe Cache Partition

       

11. CyanogenMod

    Still in OpenRecovery, select the Apply Update option and then select the update-cm-6.1.2-0.05-10.12.27-Milestone-signed.zip

    

    Confirm using the d-pad. Once that completes, use the Go Back menu option and then choose Reboot system

    You should now see the CyanogenMod logo when the phone boots.

12. Install the Google Apps

    Follow steps 1-4 of Step 9 and click Apply Update and select the gapps-hdpi-20101114-signed.zip

    . This will install the Google apps and the procedure is now complete. You will need to sign in again to GMail, Facebook, Twitter and other services.

Some Screenshots

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