Following his NFL career, he was a football commentator for several national television and radio networks. His last job before joining the Lions was as a member of the number two broadcast team for "NFL on Fox", as well as being the color commentator for "Monday Night Football" on Westwood One. On February 1, 2009, he joined the NBC broadcast team for pre-game analysis of Super Bowl XLIII. He has also been employed by ESPN as an NFL and college football analyst, and by the NFL Network as a color commentator on "Thursday Night Football." In 2015, Millen returned to Fox NFL and debuted on the Big Ten Network.