breast discharge

I have ever since being a teen have had a milky dicharge secreeting out of my breasts. I was told that it had a lot to do with my period, but when I wear a regular t-shirt you can sometimes see the discharge through my shirt. I saw a military gyn and she told me that this was normal since Im not experiencing any pain. This is embarrassing during love making, and im so tired of explaining to my boyfriend that Im not pregnant and that Ive never been pregnant. The discharge looks like breast milk and does not have an odor. I am 30 now and would love to see this end.