2010 saw Millar continue his strong time-trial form, with stage wins at the Critérium International and the Three Days of De Panne. De Panne also saw Millar gain his first multi-stage race victory since the 2001 Circuit de la Sarthe. Millar had a number of high placings in major time trials earlier in the season – he finished third in the prologue of the 2010 Tour de France and second in stage three of the Critérium du Dauphiné. An injury in the Tour de France hampered the rest of his season, though he finished all three grand tours. Millar then matched his best clean placing at the Men's World Time-Trial Championships, finishing second behind Fabian Cancellara. Shortly after, at the Commonwealth Games, he won a gold medal in the time trial and a bronze in the road race.
