Steve Millen (born 17 February 1953) is a retired New Zealand IMSA race car driver.

He then began sports car racing, winning numerous championships in IMSA Camel GT.

He switched to off-road racing in the Mickey Thompson Entertainment Group (MTEG) stadium series in the early 1980s.

He also won two Indy Lights races in the series' inaugural 1986 season, that same year, he also participates in the last round of the World Rally Championship in the 21st Olympus Rally driving for Toyota Team Europe, accompanying the Swedish drivers Björn Waldegård and Lars-Erik Torph.

He won the 12 Hours of Sebring and had top five finishes in the first four events before his 1993 season ended with injuries at Watkins Glen International.

He is also a member of the Screen Actors Guild as a stunt driver, which provided the healthcare he needed when he had his career ending crash.

During the 1990s, Millen offered a line of customized high performance Chevrolet Suburban SUVs, and several modified Nissan special edition vehicles.