Millsap played in recent years in the Development League of the NBA. He is known as an excellent defensive player, and was ranked by ESPN as fourth among the top second guards of the NBA in defense.
Millsap's size, physicality, athleticism, and drive to stop every player who comes into his sphere, led his coaches to always match him against the stars of the opposing teams, including such NBA giants as James Harden and Russell Westbrook.
Millsap is a quality defensive rebounder, who specializes on offense in driving to the basket. He loves the transition game, flying coast to coast and also knows how to take his defender down in the paint.
Since his graduation from college in 2010 Millsap has primarily played in the NBA D-League, with the Tulsa 66ers, the Los Angeles D-Fenders, and the Bakersfield Jam. He also played briefly for Maccabi Ashdod and in the Philippines. Millsap started the 2014-15 season in Bakersfield, and his outstanding play there (averaging 20.6 points, 8.3 rebounds, 5.2 assists, and 2.1 steals per game) paved the way for an NBA contract.
For the last season and a half, Millsap played for the Utah Jazz alongside (among others) ex-Maccabi player Joe Ingles. In 67 games with the Jazz, Millsap posted averages of 4.2 points, 2.8 rebounds, and one steal in 16 minutes of playing time.