This slim volume called From Birth to Five Years is a gem and widely used by professional. Very clear and easy to understand It encompasses all kinds of milestones.
I also have a useful wallchart produced by American publishers ProEd called 'The S/LT developmental chart' ((Gard, Gilman & Gorman). Not sure who distributes it in UK (but probably Taskmaster or Learning Resources. It concentrates on communication milestones.