Tulsa 66ers (2010–2011) After going undrafted in the
2010 NBA draft, Millsap joined the
Detroit Pistons for the 2010 NBA Summer League. On September 26, he signed with the
Oklahoma City Thunder. On October 30, he was acquired by the
Tulsa 66ers of the
NBA Development League as an affiliate player of the Thunder. He went on to be named to the D-League All-Rookie second team for the 2010–11 season.
Los Angeles D-Fenders (2011–2013) On November 28, 2011, Millsap was acquired by the
Los Angeles D-Fenders. On December 9, he signed with the
Los Angeles Lakers, However, he was later released by the Sharks in November 2012 in favor of
Gilbert Arenas. On December 12, 2012, he was reacquired by the D-Fenders,
Maccabi Ashdod (2014) On January 13, 2014, Millsap signed with
Maccabi Ashdod for the rest of the 2013–14 season. On March 19, he left Maccabi and returned to the United States.
Return to the D-Fenders (2014) On March 29, 2014, Millsap was re-acquired by the Los Angeles D-Fenders. On September 27, he signed with the
Milwaukee Bucks. However, he was later waived by the Bucks on October 16. On October 30, Millsap was reacquired by the Los Angeles D-Fenders.
Utah Jazz (2015–2016) On January 5, 2015, Millsap signed a 10-day contract with the
Utah Jazz and made his NBA debut that night against the
Indiana Pacers. In just over 18 minutes of action, he recorded 2 points, 5 rebounds, 4 assists and 1 steal in a 105–101 loss. On January 15, he signed a second 10-day contract with the Jazz, and on January 25, he signed a multi-year contract with the Jazz. On January 5, 2016, Millsap was waived by the Jazz.
Maccabi Tel Aviv (2016) On January 23, 2016, Millsap signed with
Maccabi Tel Aviv of the
Israeli League for the rest of the season. On March 10, 2016, he was released by the club after appearing in six games.
San Miguel Beermen (2016) On September 15, 2016, Millsap signed with the
San Miguel Beermen for the team's
2016 PBA Governors' Cup playoff run. He helped San Miguel reach the semi-finals, where they were defeated 3–2.
Northern Arizona Suns (2016–2017) On October 31, 2016, Millsap was acquired by the
Northern Arizona Suns of the
NBA Development League. With the Suns in 2016–17, Millsap led the team in scoring (19.7 points per game), steals (2.1 per game), minutes (37.0 per game) and double-doubles (13). He was second on the team in rebounding with 7.9 rebounds per game, and third on the team with 4.0 assists per game. He was the only Suns player to start all 50 games, and was one of three players to play in all 50 Northern Arizona games on the year. In their season finale on April 1, Millsap dropped a career-high 38 points on 12-of-24 shooting, including 7-of-12 from distance, against the
Reno Bighorns. Millsap scored 30+ points four times and 20+ points 23 times during the season.
Phoenix Suns (2017) On April 9, 2017, Millsap was called up from Northern Arizona and signed a multi-year contract with the
Phoenix Suns. He made his debut for Phoenix later that day, recording two rebounds and one assist in 12 minutes off the bench in a 124–111 win over the
Dallas Mavericks. He would later be cut from the roster on October 14, 2017, as the Suns trimmed their roster down to the newly implemented 17 players.
Iowa Wolves (2017–2018) On October 20, 2017, Millsap was traded from the Northern Arizona Suns to the
Minnesota Timberwolves's G League affiliate, the
Iowa Wolves.
CB Breogán (2018–2019) On December 18, 2018, Millsap signed for
CB Breogán of the Spanish
Liga ACB. On March 19, 2019, Millsap parted ways with Breogan after playing 11 games with the
Galician side.
College Park Skyhawks (2022) On January 3, 2022, Millsap signed with the
College Park Skyhawks of the
NBA G League. However, he was waived on January 12 after making three appearances. ==NBA career statistics==