Miller is best known as a bassist, working with trumpeter Miles Davis, singer Luther Vandross, and saxophonist David Sanborn, as well as maintaining a prolific solo career. Miller is classically trained as a clarinetist and also plays keyboards, saxophone and guitar.

Miller spent approximately 15 years performing as a sideman or session musician and observing how great band leaders operated. During that time he also did a lot of arranging and producing. During the late seventies he was a member of the Saturday Night Live band from 1978 through 1979. He played on over 500 recordings, including those by Luther Vandross, Grover Washington Jr., Roberta Flack, Carly Simon, McCoy Tyner, Bryan Ferry and Billy Idol. He won the "Most Valuable Player" award, (awarded by NARAS to recognize studio musicians) three years in a row and was subsequently awarded "player emeritus" status and retired from eligibility. In the nineties, Miller began to record his own records, he had to put a band together to take advantage of touring opportunities.

Miller's proficiency on his main instrument, the bass guitar, is generally well-regarded. Not only has Miller been involved in the continuing development of a technique known as "slapping", particularly his "thumb" technique, but his fretless bass technique has also served as an inspiration to many, and has