Miller began his career in
karting winning the Stars of Karting Western ICA Championship in 2005 and the Stars of Karting ICA National Championship in 2006. Miller became one of the few Americans to compete alongside Factory Tony Kart's program in the
SKUSA and Stars of Karting Championships. Miller began racing cars in 2004 in the Pacific F2000 Championship, finishing on the podium in three races. By 2006, Miller had received the Skip Barber Racing National Series Scholarship to compete a full season in the 2007 Skip Barber National Championship. In 2007, he won the Skip Barber National Championship and was awarded the
Team USA Scholarship participating in the
Formula Palmer Audi Autumn Trophy, in which he finished tenth. 2008 saw Miller compete in the
Star Mazda Series for
JDC MotorSports where he captured, one win, two poles, and seven podiums on his way to runner-up honors in the overall championship. He returned to Star Mazda in 2009 but only captured three podiums and finished fifth in the points, due to a heavy karting schedule. Miller made his
Firestone Indy Lights debut in April 2010 for
Andersen Racing, the third race of the season after extensive pre-season testing with the team, finishing eleventh at the Long Beach Grand Prix after a gearbox failure. Miller returned in August 2010 to compete in his second
Firestone Indy Lights race alongside
Bryan Herta Autosport at Infineon Raceway for the Carneros 100 to finish ninth after starting from sixteenth on the grid. Miller had qualified in eleventh for the race, however an engine change gave Miller's team a penalty starting him at the back of the grid. Miller also launched The Joel Miller Indy Racing Experience, an event that took place on August 15, 2010, in
Santa Cruz, California in which helped raise money for his second
Firestone Indy Lights race at Infineon. His management firm brought in several performing artists, exotic cars, motocross demonstrations, celebrities, and a poker tournament for the event. After a few seasons of one-off races in
Firestone Indy Lights,
Continental Tire Sports Car Challenge, and the
SCCA Pro Racing Playboy Mazda MX-5 Cup, Miller returned to full-time racing in 2013 driving for SpeedSource in the
Grand American Rolex Series, in a GX class Mazda6 sedan shared with
Tristan Nunez. The pair scored five wins and eight podiums in twelve races. For 2014, Miller continued to co-drive with Nunez as the SpeedSource team moved to the Prototype class in the
Tudor United SportsCar Championship. Their new car was a carbon fiber LMP2 class Lola coupe with
Mazda Skyactiv diesel power. == Racing record ==