Though the award ultimately went to Brandon Roy, Millsap had a strong first season, leading all rookies with six double-doubles.

As a solid bench player, the rookie participated in a surprising run to the Conference Finals where his Utah Jazz lost to later NBA champions San Antonio Spurs.

Millsap had played in 194 straight games since being drafted by the Jazz in 2006; he missed his first game of his professional career on December 26, 2008, against the Dallas Mavericks due to a sprained posterior cruciate ligament injury in his knee suffered against the Milwaukee Bucks three days prior.

[6] On June 25, 2009, the Jazz tendered a qualifying offer to Millsap, making him a restricted free agent.

Millsap scored 11 points in 28 seconds at the end of regulation, including three three-pointers, one more than he had made in his entire career before then.

[10] On July 10, 2013, after spending the first seven years of his career with the Jazz, Millsap signed a two-year deal with the Atlanta Hawks.

[13] On March 18, 2014, Millsap recorded his first career triple-double with 19 points, 13 rebounds and 10 assists in a 118–113 overtime win over the Toronto Raptors.

In the Hawks' season opener on October 27, 2016, Millsap scored a game-high 28 points on 11-of-20 shooting in a 114–99 win over the Washington Wizards.

[23] On December 19, 2016, he scored a season-high 30 points, including the go-ahead 10-footer with 12.7 seconds left, to help the Hawks defeat the Oklahoma City Thunder 110–108.

[26] Three days later, he had a season-high 37 points, including the go-ahead layup with 27 seconds remaining in the fourth overtime, to lead the Hawks to a 142–139 win over the New York Knicks.

[28][29] In his debut for the Nuggets in their season opener on October 18, 2017, Millsap scored 19 points in a 106–96 loss to his former team, the Utah Jazz.

[32] He returned to action on February 27, 2018, against the Los Angeles Clippers, recording nine points and seven rebounds in 23½ minutes in a 122–120 loss.

[33] On March 30, 2018, he scored a season-high 36 points to help the Nuggets beat the Oklahoma City Thunder 126–125 in overtime.

As players were allowed the option to have a meaningful statement of their choice displayed on the backside of their jersey in support of the Black Lives Matter movement in the isolated NBA Bubble, Millsap chose to have "Vote" as his statement, which due to his jersey number 4, ironically appeared as "Vote 4 Millsap", a pun that quicky caught viral attention.

[44] On February 10, 2022, Millsap was traded along with James Harden to the Philadelphia 76ers in exchange for Ben Simmons, Seth Curry, Andre Drummond, and two first-round draft selections.

In his final game, Millsap played for 5 and half minutes and recorded 1 rebound and 1 assist as the 76ers fell to the Miami Heat 106–92.