Millbrook parish was created in 1869, having previously been a part of the parish of Maker. It is believed that the area has been settled since the Stone Age. Like many of the neighbouring villages around the Rame Peninsula, the fishing industry has been very important to the local economy for hundreds of years.
Despite being in Cornwall, Millbrook is dependant on the City of Plymouth for job opportunities and many leisure services, and indeed the boundary between Devon and Cornwall at one time ran through the village. However, the people remain very proud of their Cornish identity. The village built up around a tidal creek near the estuary of the River Tamar, which has since been dammed to form a lake at the centre of the village. The lake is now a very popular site for birdwatching, and forms a perfect focal point at the centre of the village.
The village football team, Millbrook AFC, play in the South-Western Football League and their social club is very important to the social life of the village.
