If anything, I see ML as the (spectacularly) successful attempt at typing Lisp for increasing reliability. Remember Milner was at Stanford in the 1960s, surely he will have conversed with McCarty. Milner's early theorem provers were in Lisp. He invented ML to reduce the pain of using Lisp (remember, ML stands for "meta language"), and to make theorem proving less error prone. More precisely to reduce the TBC (= trusted computing base) in theorem provers through types (viz the famous Thm abstraction).
ML was essentially finished in the late 1980s [1]. Every responsible programming language designer could have taken on board ML's lessons sincen, and it's an interesting historical question why this did not happen.
[1] R. Milner, M. Tofte, R. Harper, The Definition of Standard ML. http://www.lfcs.inf.ed.ac.uk/reports/88/ECS-LFCS-88-62/