Robert was born at
Chester Co., South Carolina, on 23 December 1799. He was the son of
John Millen and
Martha Moffett. He married
Jane Mary Milling. He made a will at
Chester Co., South Carolina, on 9 November 1827. He married
Jane Knox. He married
Nancy Lynn. Robert was listed as the head of a family on the 1850 Census at
Chester Co., South Carolina. 1850 South Carolina, Chester Co. lists the following family: Robert Millen, age 50, born in South Carolina; Margaret Millen, age 19, born in South Carolina; Samuel Millen, age 14, born in South Carolina; G.A. Millen, age 13, male, born in South Carolina.. Robert died on 10 March 1860 at
South Carolina at age 60.