The area's first permanent home "Ellerslie" was completed in 1818 by Georgia Congressman, and Revolutionary War Veteran Bolling Hall.

The area's second permanent home "Thornfield" was started the following year, and completed in 1820 by pioneer Archibald McKeithen.

After its initial settlement, Robinson Springs was known as an early summer resort for wealthy families of Montgomery, and the vicinity.

The parsonage was sold soon after completion (due to the lack of a steady minister) to noted Alabama historian Albert J. Pickett.

Shadrack Mims, Autauga's early historian, describes Robinson Springs (circa 1850) as "a spot selected by Todd Robinson as a retreat from the river; and much good sense did he show in such selection - for, if the whole South was searched over, a more healthy spot, in my opinion, could not be found.

In June 1862, Private Bolling Hall III, on leave from fighting in Virginia, mustered a company of men under a tree at the current site of the confederate monument.

During the post-World War I and pre-World War II period, the communities of Millbrook, Coosada, and Robinson Springs, later referred to as the Tri-Community, began to evolve into populated growing communities, complete with schools, churches, and rail transportation.

Once again, those seeking a more relaxing lifestyle discovered the interstate exits immediately north of the state capital and the Millbrook population grew even more.

[4][failed verification] As of the 2020 United States census, there were 16,564 people, 6,061 households, and 4,226 families residing in the city.