Millis was first settled in 1657 and was officially incorporated in 1885. Millis was originally part of Dedham, until that town granted the lands of Millis, and other present day surrounding towns, to Medfield in 1651. In 1713, pioneers of Medfield applied for a grant to create a new town and, when approved, named this new land Medway. This new town consisted of West Medway (the present day town of Medway) and East Medway (present day Millis). Lansing Millis, the founder of the town of Millis, successfully incorporated Millis into the Commonwealth of Massachusetts on February 24, 1885.