Millerosauria is an order of Parareptiles that contains the families †Millerettidae and †Eunotosauridae.

It is the sister group to the order Procolophonomorpha.

It was once considered a suborder of the disused group Captorhinida and was called Millerosauroidea.

Eunotosaurus has been recovered as a stem-turtle in recent cladistic studies.

This article about a Permian reptile is a stub.