The weight of a gallon of milk is only slightly greater than a gallon of water, about 3% more. A US gallon with 2% milkfat weighs about 8.4 pounds, compared to 8.6 pounds for "whole milk" and 8.35 pounds for a gallon of water.
Milk is 87 % water, thus a gallon of milk will not differ from milk much.
The 8.6 lbs/gal factor (whole milk) is correct. The weight increases as fat is removed.
By weight:
Milk : 8.6 lb/gallon
Condensed milk : 9.4 lb/gallon
Cream 8.28 lb/gallon
* The British or Imperial Gallon is defined as exactly 10 pounds of water. You can convert the above figures by using 1 Imperial Gallon = 1.201 US gallons.
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