The name Millard originates from the Old English language and dates back to the medieval era. It is derived from the Old English words "mill" meaning a mill or grinding place, and "herd" meaning a guardian or keeper. Thus, the name Millard initially referred to someone who was the keeper of a mill, an important occupation in those times.

One of the earliest recorded instances of the name Millard can be found in the Domesday Book, a historical record of land ownership in England compiled in 1086 by order of William the Conqueror. The name is listed as "Milliard" and "Millard" in various entries, suggesting its use as a surname or occupational name during the Norman period.

In the 13th century, the name Millard appeared in the Pipe Rolls of Lincolnshire, a series of administrative records from the Exchequer of England. These records document individuals named Millard who were landowners or tenants in the county of Lincolnshire.

One of the earliest notable individuals with the name Millard was Sir Millard de Freston, a knight who lived in the late 13th century. He is mentioned in the Chronicles of Walter of Guisborough, a historical record of the period, for his participation in the battle of Falkirk in 1298.

In the 16th century, the name Millard gained prominence with the birth of Millard Hubbard (c. 1530-1594), an English politician and landowner who served as a Member of Parliament for Buckinghamshire.

Another significant figure was Millard Fillmore (1800-1874), the 13th President of the United States. He was born in Cayuga County, New York, and served as President from 1850 to 1853, assuming office after the death of President Zachary Taylor.

In the 20th century, Millard Sheets (1907-1989) was an American artist and educator known for his works in various media, including watercolor, mosaic, and architectural design. He was also a professor at several universities, including the University of Southern California.

Millard Lampell (1919-1997) was an American screenwriter and novelist, best known for his works such as the film "The Defiant Ones" and the novel "Whatever Became of...?".

Millard Fuller (1935-2009) was an American entrepreneur and philanthropist who founded Habitat for Humanity International, a nonprofit organization dedicated to building affordable housing for those in need.