He was preceded in death by his maternal grandparents: Archie and Aldora Grisson, Sr.; maternal uncles: Archie Grisson, Jr., Henry Grisson, Sr., and Gene Grisson; two maternal aunts: Helen Wesley and Mariah G. Grown; one sister: Helen G. Roe; and one niece: Leshawn Y. Roe.

Millard leaves to cherish his memories to his only son: Bennie Robinson (Denise) of Statenville, Georgia; eight grandchildren; twelve great-grandchildren; his loving mother: Viola West of Homerville, Georgia; two sisters: Aldora Grisson of Marietta, Georgia, and Leola West of Homerville, Georgia; one brother-in-law: Adam Roe, Jr. of Valdosta, Georgia; one aunt: Virginia Grisson of Naylor, Georgia; a special nephew: Jamie Marshall; one niece: Natalie Roe; one great-niece: J'Mya Marshall; one great-nephew: Jamie Marshall