Djokovic has largely lived in the shadow of Federer and Nadal but he booked his place in another Grand Slam semi-final this morning.
The Serbian beat Millman 6-3, 6-4, 6-4 to set up a US Open clash with Kei Nishikori.
However Millman, who knocked Federer out of the previous round, took time to hail his conqueror by hinting he was underrated.
Nadal and Federer are often considered the front-runners for the major titles but Djokovic is gunning for Grand Slam win No 14 this week – and he is well on course for success.
“It’s not so easy to play Roger and then to play Novak. I think Novak sometimes flies under the radar a little bit,” Millman said.
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“But the guy’s won a lot of Grand Slams, and he knows how to win them and knows what this is all about.
“He’s probably one of the most in-form players after winning Wimbledon, winning Cincinnati, coming into this tournament.”
Millman’s incredible run in New York came to an end this morning but he was delighted with how he performed throughout the memorable run.
“Every match in my career, whether it’s here, Flushing Meadows or some awkward place in the middle of nowhere, that’s just what I do. I try to leave it all out there,” he added.
“I definitely left it all out there today. I pulled up a bit short.
“Probably didn’t execute as well in some of those big moments.
“Really, if I could have just jagged a set, I think I could have been in there. But Novak is a champion.
“It’s tricky, but I gave it a crack.”
Millman also explained how happy he was with the hard-court campaign.
“It’s special, isn’t it? I was saying to some of the boys on my team a couple weeks ago that it was dire straits for me,” he said.
“I wear my heart on my sleeve a bit at times. I pulled out of Cincinnati. Winston-Salem I was just kind of finding my feet, copping the abuse from a lot of punters, and it was dire straits for me a little bit.
“I felt pretty underprepared coming in this week, and I don’t really like that.
“I do feel as if I can compete at a high level. I have always had that belief.
“But it’s been an unbelievable moment and I just hopefully can take a few snapshots in mind and use that moving forward.”