It is accessed from a point adjacent to Millbank Tower and the Tate Britain art gallery.

Millbank Millennium Pier was opened on 22 May 2003 by London Mayor Ken Livingstone.

The project was part of an integrated transport and regeneration strategy for the Thames led by London's Cross-River Partnership.

[1] The Millbank Millennium Pier was designed by Marks Barfield Architects with engineering and project management provided by Beckett Rankine.

[2] The main contractor was Mowlem with the steel fabrication by K&N Welding and electrical work by Philipsons.