Tyler started racing Quarter Midgets at 7-years-old, he raced Quarter Midgets for eight years and traveled all over the United States. Tyler accumulated over 100 feature wins in Quarter Midgets.
Millwood then moved on to race Legend Cars, where he raced at Atlanta Motor Speedway and Charlotte Motor Speedway, competing in the Summer Shootout Series.
Tyler soon found himself in an Asphalt Late Model, where he raced all over the southeast for 4 years. He scored several top-five-finishes.
He than began his Dirt Late Model career in 2007. Tyler started out competing in the Crate Late Model division, registering 10 wins over the course of two years. After 2 years of Crate Late Model competition he made the move to Super Late Models.