Download coordinates as: Millaroo is a rural town and locality in the Shire of Burdekin, Queensland, Australia.

It is a sugarcane growing area with underground water supplies to irrigate crops.

[4][8] Following World War II, a number of soldier settlement blocks were established in the area for the purpose of growing tobacco, but it was not successful.

[9] In 1952, there was a plan to establish a new irrigation area along the Burdekin River based around a new town.

The town to be called Millaroo was to be established as a "modern" "first class" planned town with reserves, parks, and industrial zones suitable for a population of 6,000 (a similar population to that of Ayr at that time).