Millett was called to the bar at Middle Temple in 1955. In 1959, he came to Lincoln's Inn, where he was appointed a bencher in 1980. From 1958 to 1986 he practised at the Chancery Bar and was examiner and lecturer in practical conveyancing at the Council of Legal Education from 1962 to 1976. Between 1967 and 1973, Millett was junior counsel at the Department of Trade and Industry in chancery matters, and between 1971 and 1975 member of the General Council of the Bar. He was a member of the Law Commissionworking party on co-ownership of the matrimonial home in 1972 and 1973 and appointed a Queen's Counsel in the following year. From 1977 to 1982, Millett was member of the Department of Trade Insolvency Law Review Committee. In 1982 he acted for the Inland Revenue in the leading tax avoidance case, Ramsay v IRC, creating a principle that ended and prevented many tax avoidance schemes. In 1986, he became a judge of the High Court of Justice and was knighted. He was appointed a Lord Justice of Appeal and a member of the Privy Council in 1994. On 1 October 1998, he was appointed as a Lord of Appeal in Ordinary, receiving additionally a life peerage with the title Baron Millett, of St Marylebone in the City of Westminster. He retired as a Lord of Appeal in Ordinary in January 2004. He has been a Non-permanent Judge of the Hong KongCourt of Final Appeal since 2000. In 2015, Millett was awarded the Gold Bauhinia Star by the Chief Executive of Hong Kong. He retired from the membership of the House of Lords on 4 May 2017. Millett is well known for his judgment in the House of Lords in the wrongful birth case of McFarlane v Tayside Health Board where a couple were denied recovery of damages for the cost of bringing up an unwanted child, born as a result of a negligently performed vasectomy. He concluded that "the law must take the birth of a normal, healthy baby to be a blessing, not a detriment." In addition, in a dissenting opinion, he concluded that damages could not be awarded for the pain and distress of pregnancy and delivery but rather that a small sum should be awarded to reflect that the parents had "lost the freedom to limit the size of their family" and thus had been "denied an important aspect of their personal autonomy." Millett is also notable for his contribution to the law of equity and trusts. He wrote the leading judgment in Foskett v McKeown, a landmark case on the English law of trusts, concerning tracing and the availability of proprietary relief following a breach of trust. He also decided Bristol and West Building Society v Mothew, a leading English fiduciary law and professional negligence case, concerning a solicitor's duty of care and skill, and the nature of fiduciary duties. The case is globally cited for its definition of a fiduciary and the circumstances in which a fiduciary relationship arises.
Personal life
From 1991 to 1995, he was President of the West London Synagogue. He is an active Freemason, and served for five years as Metropolitan Grand Master of London from the inception of the new Metropolitan Grand Lodge in 2003. In this capacity he supervised more than 1,200 Masonic Lodges in London, and more than 600 associated Chapters of Royal Arch Masons. Millett has been married to Ann Mireille Harris since 1959. They have two sons and five grandchildren.