Will milk hurt a dog?

My dogs have never done anything like this before. My dogs got into a glass of milk earlier. Normally they never ever touch anything we have to drink on the coffee table (then again I rarely drink milk) and I turn my back for one second to plug in the computer and There was my dogs drinking my milk. Will... show more My dogs have never done anything like this before. My dogs got into a glass of milk earlier.

Normally they never ever touch anything we have to drink on the coffee table (then again I rarely drink milk) and I turn my back for one second to plug in the computer and There was my dogs drinking my milk.

Will they be okay or will they get a tummy ache from that?
Update: The one that drank the most has a history of tummy problems
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