Millersville is a city in Robertson and Sumner counties, Tennessee.

According to the United States Census Bureau, the city has a total area of 13.5 square miles (35 km2), all land.

As of the census[4] of 2000, there were 5,308 people, 1,990 households, and 1,484 families residing in the city.

19.1% of all households were made up of individuals, and 3.6% had someone living alone who was 65 years of age or older.

As of the 2020 United States census, there were 6,299 people, 2,525 households, and 1,663 families residing in the city.