Millersville is a borough in Lancaster County, Pennsylvania, United States.

Originally farmland in then Manor Township owned by John Miller, Millerstown was a crossroads for goods and sales brought from the local farming communities into Lancaster City.

Later the town's name was changed to "Millersville", and it was incorporated as a separate borough in Lancaster County.

Millersville is the location of the first teachers' academy in the state, established in 1854.

[4] A small portion of the southern border of the borough touches the Conestoga River, a tributary of the Susquehanna.