Miller was married to Elisabeth Sladen, who was a recurring cast member on the BBC show Doctor Who and also in her own spin off series The Sarah Jane Adventures.
Miller and his wife, Elisabeth Sladen, moved to Liverpool after she left Doctor Who where they performed in a series of plays including a two-person production Mooney and his Caravans.
Miller briefly played Cliff Pughes in Coronation Street and Mark in Wizards vs Aliens.
Miller and Sladen performed alongside their daughter in a number of Sarah Jane Smith audio plays, released by Big Finish Productions.
[2] Miller also appeared alongside his wife in The Sarah Jane Adventures, as Harry the caretaker in the serial "The Mad Woman in the Attic" (2009).