Millaroo is a rural town and locality in the Shire of Burdekin, Queensland, Australia. In the 2021 census, the locality of Millaroo had a populatio…Millaroo is a rural town and locality in the Shire of Burdekin, Queensland, Australia. In the 2021 census, the locality of Millaroo had a population of 86 people. The locality is bounded to the west by the Burdekin River. The place is located about 100 kilometres south-east of Townsville, about 50 kilometres inland from the Coral Sea.