[21] Milltown was incorporated as a borough by an act of the New Jersey Legislature on January 29, 1889, from portions of North Brunswick, based on the results of a referendum held three days earlier.

[26] Long before the arrival of the first Europeans, the Lenape Native Americans had established settlements along the Lawrence Brook.

The discovery of many artifacts in the area above today's municipal building (now a small county park) suggests the presence of a Native American settlement.

The names and marks of several Native Americans (Quemareck, Quesiacs, Isarick, Metapis, Peckawan and Turantaca) appear on the bill of sale.

[28] In 1769, Fulcard Van Nordstrand advertised the sale of a large gristmill on the bank of Lawrence Brook.

[27] After the end of World War I, the Michelin Illustrated Guides to the Battlefields (1914-1918) of the Western Front were published in Milltown.

The Vichy Regime willfully collaborated with Nazi Germany, taking state action against "undesirables", including Jews, Protestants, gays, gypsies, and left-wing activists.

In total, the Vichy government participated in the deportation of 76,000 Jews to German extermination camps, although this number varies depending on the account; only 2,500 survived the war.

[33] After the war, Petain was charged with perjury and sentenced to death, though this was commuted to life imprisonment due to his advanced age.

[34] The groundbreaking anxiolytic and sedative drug Miltown (meprobamate) developed by Carter Products, which became available to the public in the mid-1950s, was named for the borough.

[36][37][38] The Lawrence Brook, a tributary of the Raritan River, flows through the borough after exiting the Farrington Lake; a dam, under Main Street, creates a reservoir, the Mill Pond.

[39] The climate in the area is characterized by hot, humid summers and generally cold winters.

[6] The borough form of government used by Milltown is a "weak mayor / strong council" government in which council members act as the legislative body with the mayor presiding at meetings and voting only in the event of a tie.

The mayor can veto ordinances subject to an override by a two-thirds majority vote of the council.

[56] For the 119th United States Congress, New Jersey's 12th congressional district is represented by Bonnie Watson Coleman (D, Ewing Township).

[59] For the 2024-2025 session, the 18th legislative district of the New Jersey Legislature is represented in the State Senate by Patrick J. Diegnan (D, South Plainfield) and in the General Assembly by Robert Karabinchak (D, Edison) and Sterley Stanley (D, East Brunswick).

[61] As of 2025[update], Middlesex County's Commissioners (with party affiliation, term-end year, and residence listed in parentheses) are: Director Ronald G. Rios (D, Carteret, 2027),[62] Deputy Director Shanti Narra (D, North Brunswick, 2027),[63] Claribel A.

[109][110] Our Lady of Lourdes School (PreK–8), which operated under the supervision of Roman Catholic Diocese of Metuchen, closed in June 2013 due to dropping enrollment.

[112] Ryders Lane (County Route 617) is a major artery serving the borough along the eastern border.

[113] The New Jersey Turnpike (Interstate 95) passes through for about a mile, but the closest interchange is in neighboring East Brunswick.

[115] Coach USA Suburban Transit provides NYC rush-hour commuter service on the 400 route.