Keith Millar was born in Edinburgh and studied timpani and percussion privately with Leslie Newland of the Scottish National Orchestra. He also experimented with the clarinet, saxophone and double bass. At the age of 16, he joined the Scottish National Orchestra, becoming its youngest ever member, and remained there for five years.
He was then invited to London to join the Royal Philharmonic Orchestra, becoming, at 21, its Principal Percussionist. He moved to the London Philharmonic Orchestra as Principal Percussionist in 1972 and has been in the section ever since.
Keith was a founder member of London Sinfonietta and London Virtuosi and a member of London Opera Group. In his musical career he highlights working with famous composers like Walton, Britten and other musicians. He also was Director and Chairman of the London Philharmonic Orchestra in the 1980s and 90s.