In January 1998, Millar was diagnosed with ovarian cancer and underwent chemotherapy. She died on 10 November, at the age of 62, in Brockley, London, with her husband and daughter at her bedside. She was cremated at Golders Green Crematorium. Three weeks before her death, when asked what she would do when she arrived at heaven's door, Millar said, "Rehearse for a part in the Angelic choir, darling." An episode of Keeping Up Appearances was broadcast on BBC One the following week and dedicated to her.