Millaroo is a small settlement in the Burdekin in Queensland, Australia. The place is located about 100 km south-east of Townsville, ca. 50 km inland from the Coral Sea. It is a sugarcane growing area with underground water supplies to irrigate crops. At the 2011 census, Millaroo had a population of 200.
Millaroo Post Office opened on 1 July 1955 and closed in 1972.