I'd say an hour, some of the juice box style unrefridgerated milks (like horizon brand) I'm sure can be out longer but just normal milk an hour, a little more if it is kept chilled (in a cold car) less if warmed (at more than room temperature).
I agree with @jessibear. One it's no longer cold I wouldn't give it to my lo. But I have little bottle bad which holds two bottles and ice pack thing for when we go out of the house. I've never had problem with that and my lo getting sick. Maybe u can try that if you haven't yet.
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Just a guess.