Ghana striker, Jordan Ayew put up a decent performance as Crystal Palace recorded a 1-0 Premier League victory over Leicester City at Selhurst Park.
Ayew, who is still yet to break his goal duck since joining the Eagles in the summer was replaced by Sorloth in the 78th minute.
Both sides struggled to create chances in a drab first half until Milivojevic beat Foxes keeper Kasper Schmeichel from 25 yards out with a powerful, curling shot.
Palace came into the match with a two-point gap on the bottom three, and that advantage now sits at five after a vital result in front of their own fans.
With back-to-back home wins and a resilient display, Roy Hodgson now has something to build on going into the busy festive period.
Leicester, meanwhile, drop out of the top half of the table and have just one win in six, their momentum stalling with some tricky games awaiting them in the weeks ahead.