EXHIBIT 5.1
                          MORSE, ZELNICK, ROSE & LANDER
                         A LIMITED LIABILITY PARTNERSHIP
                                 405 PARK AVENUE
                          NEW YORK, NEW YORK 10022-4405
                                  212-838-1177
                                FAX 212-838-9190

                                  May 18, 2006
Milestone Scientific Inc.
220 South Orange Avenue
Livingston, NJ  07039

                           Re: Registration Statement on Form S-8

Ladies and Gentlemen:

         We have acted as counsel to Milestone Scientific Inc., a Delaware
corporation ("Milestone"), in connection with the preparation of a registration
statement on Form S-8 (the "Registration Statement") filed with the Securities
and Exchange Commission under the Securities Act of 1933, as amended (the
"Act"), to register the offering by Milestone of an aggregate of 1,207,464
shares of Common Stock par value $.001 per share (the "Shares") issuable under
Milestone's 2004 Stock Option Plan (the "2004 Plan") and 2006 Stock Option Plan
(the "2006 Plan") (collectively the 2004 Plan and the 2006 Plan are referred to
herein as the "Option Plans"), and issuable upon exercise of certain options
granted by Milestone outside of the Option Plans (the "Non-Plan Options").

         In this regard, we have reviewed the Milestone's Certificate of
Incorporation, as amended, resolutions adopted by Milestone's Board of
Directors, the Registration Statement, the exhibits to the Registration
Statement, the Option Plans, the option agreements for the options issued under
the Option Plan, the option agreements for the Non-Plan Options and such other
records, documents, statutes and decisions as we have deemed relevant in
rendering this opinion.

         Based upon the foregoing, we are of the opinion that the Shares
issuable (i) upon grant under the 2006 Plan, and under the Option Plans upon
exercise of options granted and to be granted under the respective Plans, have
been duly and validly authorized for issuance and when issued and delivered as
contemplated by the respective Option Plans will be legally issued, fully paid
and non-assessable under Delaware law; and (ii) upon exercise of the Non-Plan
Options have been duly and validly authorized for issuance and when issued and
delivered will be legally issued, fully paid and non-assessable under Delaware
law.

         We and our affiliates are the holders of the following securities:
219,813 Shares and options or warrants to purchase and aggregate of 370,675
Shares of which options and warrants for 272,897 Shares are currently
exercisable.

         We hereby consent to the use of this opinion as Exhibit 5.1 to the
registration statement and to the reference to our Firm in the related
prospectus under the heading "Legal Matters.". In giving this opinion, we do not
hereby admit that we are acting within the category of persons whose consent is
required under Section 7 of the Act or the rules and regulations of the SEC
thereunder.

                                       Very truly yours,

                                       /s/ Morse, Zelnick, Rose & Lander, LLP
                                       -----------------------------------------
                                       Morse, Zelnick, Rose & Lander, LLP