The following season, he transferred to Udinese, in 1985, and in 1987, he was bought by Milan, under manager Arrigo Sacchi, making his club debut in the Coppa Italia on 23 August 1987, in a 5–0 win over Bari. He enjoyed a successful three-season spell with Milan, winning the 1987–88 Serie A title, the 1988 Supercoppa Italiana, consecutive European Cups (1988–89 and 1989–90), as well as the 1989 Intercontinental Cup, and the 1989 European Super Cup, with his final appearance coming in Milan's 1–0 victory over Benfica in the 1990 European Cup Final on 23 May; in total he made 115 appearances for the club between 1987 and 1990, scoring 7 goals, all of which came in his 77 Serie A appearances with the club.