A simple and reliable analytical method based on solid phase extraction (SPE) and liquid chromatography coupled with electrospray ionization mass spectrometry was developed for the determination of bisphenol A (BPA) in milk. The effects of the experimental parameters of the LC-ESI-MS system (mobile phase and additives, flow rate, temperature of the ionization source, cone voltage and capillary potential) on the obtained signal were assessed and the parameters were optimized to provide maximum sensitivity and detectability. In addition, the performance of three commercial SPE sorbents (C18, PS-DVB and hydroxylated PS-DVB) was evaluated using spiked water and milk, diluted with a mixture of water-methanol (8:1). By using C18 cartridges and BPA-d(16) as internal standard, the mean relative recoveries at three fortification levels ranged between 97 and 104% and the corresponding inter-day precision (RSD%) was below 6% for 50 and 500 ng/g and below 20% for 5 ng/g fortification levels. It is shown that the ion suppression during ESI, the losses from the sample preparation procedure and the inter-day instability of LC-ESI-MS were overcome by the use of the deuterated internal standard. The concentration of BPA found in commercial canned milk samples ranged from <1.7 to 15.2 ng/g.