Millbrook is a village in Dutchess County, New York, United States.

The site of present-day Millbrook was originally part of a much larger land grant given in 1697.

In the years before the American Revolution, two nearby settlements - Mechanic and Hart's Village - were established within the confines of the modern Millbrook.

[5] In 1869, the Dutchess and Columbia Railroad commenced operating with a stop called Millbrook, named after an adjacent farm.

The Roman Catholic Archdiocese of New York operated St. Joseph's School in Millbrook which closed in 2013.

[6] Millbrook is served by Dutchess County Public Transit's route "D" bus.