Mayor Martin J. Walsh could be losing his public works commissioner, if the town of Milton has its way.

Milton’s Board of Selectmen voted unanimously, 3-0, Wednesday to appoint Michael Dennehy as its town administrator, praising his leadership skills and Boston experience.

“Mr. Dennehy has exhibited exceptional leadership in his role as head of the City of Boston Department of Public Works and a member of Boston Mayor Martin J. Walsh’s cabinet,’’ the selectmen said in a statement, which was released to the Globe. “We are proud to appoint an innovative public administrator of Mr. Dennehy’s caliber and experience.’’

Selectman chairwoman Kathleen M. Conlon said Dennehy was one of two finalists for the position. She said that during their hour-long meeting, the selectmen were initially split between Dennehy and the other candidate, Anthony Marino, assistant town manager in Hanover.

“We had a lengthy discussion, and in the end we decided on Mr. Dennehy,’’ Conlon said in a phone interview.

She said she called Dennehy on Wednesday and told him that he was selected. She said she left a message for Marino about the decision. Dennehy could not be reached for comment.

But in an interview before the selectmen last week, Dennehy highlighted his 20 years of experience in Boston, saying he takes pride in working on both sides of city government.

“I understand what it takes to deliver services to constituents,’’ he said, during the meeting, which was recorded on Milton Access Television. “It’s not easy. It’s something that has to be done.’’

If Dennehy accepts the job, he will replace Annemarie Fagan, who announced her retirement last year. She had planned to step down in June after three years in that role and 20 years of service to the town, but has agreed to stay on to help the town through the transition, Conlon said.

In their statement, the selectmen said they looked forward to working with the new leader on a range of issues, including public safety, economic development, and education.

Conlon said there are three conditions to the job. Dennehy must pass a physical examination, successfully negotiate a contract, and complete a course sponsored by the Massachusetts Municipal Association. The course can be completed after he signs on, she said.

Dennehy’s Boston salary is $124,000, according to the city’s 2014 payroll data.

The current town administrator’s salary is $160,000, town officials said. She said the town is in contract negotiations with Dennehy.

Walsh elevated Dennehy from assistant superintendent of public works to interim commissioner in January 2014.

Dennehy’s 20-year career in public works began in highway operations and later in trash and recycling. His duties have included working with global positioning technology to track public works equipment and snow plows. He helped steer the city through one of its worst winters in 2015, which saw record-breaking snowstorms.

Dennehy lives in Milton, and his address became a subject of controversy at the time of his appointment. City rules had compelled him to live in Boston to hold the commissioner’s job permanently. He served on an interim basis until Walsh overhauled the policy.

Meghan E. Irons can be reached at meghan.irons@globe.com. Follow her on Twitter @meghanirons.