 Millward starred as Jeremy Potts in the musical "Chitty Chitty Bang Bang", as Michael Banks in "Mary Poppins", and as Gavroche in "Les Misérables".In 2006 he performed the role of Noah in the musical "Caroline, or Change" at the National Theatre, London,
He played the role of David in Menier Chocolate Factory's production of Torch Song Trilogy in 2012.Millward's first television appearance was playing a character, Warren, in an episode of "The Bill" in 2003; he returned to the long-running series in 2008, playing the character Joey Tomlinson.