Listen to Millie Millipede online. Millie Millipede is an English language song and is sung by Steve Davies, Robert Howes, William McGillivray, Barbara Courtney-King and Chris Emmett. Millie Millipede, from the album 30 Favourite Nursery Rhymes, was released in the year 2013. The duration of the song is 1:53. Download English songs online from JioSaavn.