Millersburg is a borough in Dauphin County, Pennsylvania, United States. The population was 2,562 at the 2000 census. It is part of the Harrisburg–Carlisle Metropolitan Statistical Area.
Millersburg is located on the east bank of the Susquehanna River at 40°32′30″N 76°57′26″W / 40.54167°N 76.95722°W / 40.54167; -76.95722 (40.541676, -76.957283). According to the United States Census Bureau, the borough of Millersburg has a total area of 0.8 square miles (2.0 km²), all of it land.
Millersburg was founded in 1807 by Daniel Miller, for whom the town was named.