The rate and extent of coagulation of milk using fast acidification with 0.1 N HCl were monitored by changes in viscosity and turbidity at various temperatures and pH. Also the gelation rate of milk using slow acidification with D-glucono-${delta}$-lactone was measured in a small strain rheological scanner. Coagulation of milk casein occurred in a specific pH range and was accompanied by an abrupt increase in viscosity at pH 5.0. Acid coagulation rate was enhanced by increasing temperature from $20^{circ}C{sim}50^{circ}C$, and the maximum rate was shown around pH 5.0. The addition of salt ($CaCl_{2}$) reduced the maximum coagulation rate at all temperature ranges and shifted the pH ranges for maximum coagulation rate and the onset pH of coagulation. The onset of gelation and the rate of network formation during slow acidification were facilitated by Cl ion, but suppressed by SCN-ion, as indicated by the rate of rigidity development. The susceptibility to syneresis was greater in the gel made at lower temperature and around pH 4.6, while preheated milk at $90^{circ}C$ for 5 min prior to acidification showed the same syneresis profile at all heating temperatures ($60{sim}90^{circ}C$).