Had soreness on outer vagina that turned into itching. now having yellowish milky discharge with no odor. is it likely an infection?

Infection is likely: These symptoms indeed suggest an infection. Depending on STD risks (new partner, partner with other partners, etc) the possibilities include herpes, gonorrhea, chlamydia, trichomonas, bacterial vaginosis, yeast, and others. See a doctor ASAP.

Please bring this up with your Gynecologist who knows your medical history and can give you a through exam. If you don't have confidence in your Doctor see another for a second opinion.