According to the United States Census Bureau, Millersburg has a total area of 0.76 square miles (1.97 km2), all land.

The Millersburg Ferry leads west across the Susquehanna to Buffalo Township in Perry County, allowing a connection to U.S.

When they arrived at the north side of Berry's Mountain, tradition has it, Daniel was so taken with the beauty of the area where the Wiconisco Creek joined with the Susquehanna that he resolved to purchase the land at that location.

On June 2, 1790, Miller received a deed for 979-1/4 acres at the mouth of the Wiconisco Creek from William Von Phul of Philadelphia, the owner of the land upon which Millersburg is now situated.

In 1794, Miller built his first cabin that later served as a school in which he taught the children of the surrounding area without compensation.

It was not until 1805, upon completion of a more suitable dwelling which still stands on the northeast corner of Pine and Walnut streets that Miller brought his wife, Elizabeth, and their two children to their new home.

[12] Millersburg is the home of the Ned Smith Center for Nature and Art, opened on October 9, 2004[13] which is named after local wildlife artist and frequent columnist of "Gone for the Day" featured in the Pennsylvania Game News.

The Center features three gallery spaces, a gift shop, offices, classrooms, and over 500 acres of trails and streams for outdoor activities.

A variety of youth summer camps, family "discovery programs" and school field trips are available.

During the Spring and Summer months, the Ned Smith Center hosts a variety of live performances on the DeSoto Amphitheater.

The amphitheater was built through the patronage of Carole Desoto in 2014[14] and has featured shows including ballet performances, rock concerts, and "Shakespeare in the Woods",[15] the cumulative show of an acting camp for children hosted at the Center by Gamut Theatre Group.