Career
In the 1970s and 1980s, Millen raced in hillclimbing and Formula Ford before doing stadium off-road racing in the United States in the Mickey Thompson Entertainment Group (MTEG). He then began sports car racing, winning numerous championships in IMSA Camel GT.
Millen began his racing career in hillclimbing in 1969. He then moved to the Formula Ford series.
He started competing in rally cars in the mid 1970s.
He switched to off-road racing in the Mickey Thompson Entertainment Group (MTEG) stadium series in the early 1980s. Millen switched to the IMSA Camel GT series in 1990.
He had seven poles and five wins in 1991. He also drove for Allan Moffat Racing in the 1991 Tooheys 1000 at Bathurst, partnering Gary Brabham in a Ford Sierra RS500 but the car did not finish the race.
Millen expressed interest in returning by no offer was forthcoming with the Moffat team seeing the return of the cars builder Reudi Eggenberger in 1992 along with his ace driver Klaus Niedzwiedz.
He was invited to the International Race of Champions (IROC). He was leading the IMSA GTS championship, when he had a professional career-ending crash at Road Atlanta. He had competed in three of four IROC races.
Millen has the most all-time wins in IMSA GTS history with 20 victories.
His 23 pole positions are also a series record. He has had several wins in occasional appearances in various series since his retirement.
Millen also worked as a driver for commercials sometimes with Rod and has appeared in a commercial for Honda, despite being under contract at the time to rival Nissan. He started Stillen, an aftermarket performance parts company specializing in Nissan vehicles in 1986.
Millen has also been active in designing and engineering race cars for hill climbing, notably the Pikes Peak and Race to the Sky hillclimb in Queenstown, New Zealand.
Steve"s brother Rod Millen became a legend at the Pikes Peak International Hillclimb. Steve is the uncle of Rhys and Ryan who both compete in motorsport events.