Millar was educated at Rugby School and the Courtauld Institute of Art at the University of London, graduating with an Academic Diploma in the History of Art.
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He published The Queen's Pictures in 1977, a general account of the Royal Collection, and wrote the catalogues for exhibitions of works at the National Portrait Gallery by Sir Peter Lely in 1978 and "Van Dyck in England" in 1982, selecting himself the 65 paintings and 22 drawings for the latter exhibition.
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His paternal grandmother, Beatrix ("Trixie"), was the daughter of author George du Maurier and the sister of Gerald du Maurier (himself the father of Daphne du Maurier) and Sylvia Llewelyn Davies (whose children with Arthur Llewelyn Davies were adopted by J.M. Barrie); she had married Charlie Millar in the 1880s.
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Between 1962 and his retirement in 1988, he was responsible for mounting 12 public exhibitions at the Queen's Gallery at Buckingham Palace, attracting almost 2.5 million visitors in all.
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He died instantly of a heart attack whilst walking across St James's Square in London having come from an appointment at Christie's to look at a picture by Lely.
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