Millbrook is a village situated in Dutchess County within the state of New York, United States. It lies in the Hudson Valley region on the east side of the Hudson River, positioned approximately ninety miles north of New York City. The settlement occupies the center of the town of Washington, serving as an incorporated municipality within this larger administrative boundary.

The area originated from a large land grant issued in 1697. Before the American Revolution, nearby settlements named Mechanic and Hart's Village existed within the modern boundaries. In 1869, the Dutchess and Columbia Railroad established a stop called Millbrook, which spurred development between the earlier villages. The community was officially incorporated as a village in 1895.

The village features historic sites such as the Hitchcock Estate, where Timothy Leary conducted psychedelic research in the 1960s. Notable landmarks include the Mary Flagler Cary Arboretum, Innisfree Garden, and the Nine Partners Meeting House. The area also contains the ruins of Bennett College and the Trevor Zoo at Millbrook School, alongside various preserves and wineries.

Millbrook offers cultural attractions including the Cary Institute of Ecosystem Studies and the Wing Castle. The community supports educational institutions like Millbrook High School and the Dutchess Day School. Visitors can explore points of interest such as the Rocky Reef Trebuchet and the Mashomack Preserve Club polo fields, drawing interest from those seeking historical and natural experiences.

The population was recorded at 1,455 in the 2020 census. The village falls within the Kiryas Joel–Poughkeepsie–Newburgh Metropolitan Statistical Area. Transportation is provided by Dutchess County Public Transit route D bus. The area maintains a mix of residential and institutional presence, with notable residents including Timothy Leary and Bette Midler contributing to its cultural profile.