Miller began acting when he was 18 years old with the Stanley Woolf players on the Borscht circuit in Liberty, New York, performing Take a Giant Step and serving as company manager.

He moved to Hollywood to co-star in Joe Forrester and Quinn Martin, as well as LA Underground Quest for Columbia Pictures.

He appeared in the Lizzie Borden film Born in Flames and also in A Man Called Adam, as well as a Quinn Martin production in San Francisco.

In 1968 he was invited to perform experimental, integrated theater for one season at Arena Stage in Washington, D.C. From 1972 until 1974, Miller played Gordon on Sesame Street.

[4] In addition to acting, Miller was also a painter (represented by Saatchi),[5] a singer, a lyricist, and a published poet.