Polybrominated diphenyl ethers (PBDEs) are widespread, persistent in the environment, and classified as global pollutants. Their presence has been confirmed in various types of food which adversely affect human health when consumed in sufficient amounts. Although milk has advantageous nutritional qualities and there are health benefits associated with its consumption, it could also contain toxic PBDEs. The aim of the study was the determination of the concentrations of ten congeners (BDE -28, −47, −49, −99, −100, −138, −153, −154, −183, and 209) in cow’s, sheep’s, and goat’s milk obtained from Polish farms and their determination in infant formula. A total of 103 samples of raw milk and infant formula were tested using an accredited high-resolution gas chromatography–high-resolution mass spectrometry method. PBDEs were detected in all analyzed samples, the highest concentration being found in sheep’s milk (11.9 ng g−1 fat), and cow’s milk containing the least contamination. BDE-209 makes the predominant contribution to the sum of the ten congeners, constituting at least 38%. The profiles of PBDEs were dependent on the milk type and the differences between its varieties are discussed. The highest median concentration of the sum of ten PBDEs (0.473 ng g−1 fat) was determined in infant formula, which was identified as an important source of infants’ exposure (5.48 ng kg−1 b.w. day−1 calculated based on P95 concentration). Milk is a source of PBDE in the diet; however, considered in isolation its consumption does not pose a risk to either adults’ or children’s health.