In a large bowl, combine the ground beef, bread crumbs, milk, egg, salt, and pepper. Mix gently until just combined. Do not overmix.
Form the mixture into 4 oval-shaped patties.
In a large skillet, melt the butter over medium-high heat. Add the onion and cook until softened, about 5 minutes.
Add the sliced mushrooms to the skillet and cook until they are browned and their liquid has evaporated, about 8-10 minutes.
Remove the vegetables from the skillet and set aside. Add the Salisbury steak patties to the skillet and brown them on both sides, about 3-4 minutes per side. Remove patties from the skillet and set aside.
Reduce the heat to medium. Sprinkle the flour into the skillet and whisk for about 1 minute until it forms a paste with the drippings.
Gradually whisk in the beef broth and Worcestershire sauce until smooth. Bring to a simmer, scraping up any browned bits from the bottom of the skillet.
Return the cooked patties and the sautéed vegetables to the skillet. Cover and simmer for 15-20 minutes, or until the patties are cooked through and the gravy has thickened.
Serve hot, spooning the gravy over the Salisbury steak.
Notes
This Salisbury steak recipe is perfect served with mashed potatoes or noodles.