"Keith has an excellent background in the NFL as a player and coach," Raiders head coach Norv Turner said in a statement released by the team. "His experience and energy as a position coach will be a good addition to our staff."
Millard is a native of nearby Pleasanton and spent the past four seasons as an assistant coach for the Denver Broncos, where in 2004 he coached a defensive line that helped the Broncos finish fourth in the NFL in total defense and seventh in sacks.
In 2003, he coached a defensive line that ranked fourth in the NFL in sacks and was the only defensive line in the league to have three players with at least 8.5 sacks. In 2002, Millard helped guide the team to a sixth-place ranking in total defense in the NFL and fourth against the rush.
"I'm very excited for the opportunity to work in this great organization and with this coaching staff," Millard said in a statement released by the team. "It's an organization that I've followed since I was a kid. I'm from the Bay Area and my first pro football game was a Raider game."
The 42-year old Millard was a first round pick by Minnesota (13th selection overall) in 1984 and went on to become a three-time All Pro performer and two-time Pro Bowler as a defensive lineman from 1985-93.
He began his pro career in the United States Football League, playing one season with the Jacksonville Bulls and ranked second in the league in sacks (12) behind Reggie White (12.5). Millard was voted to the All-USFL team and was named to the All-Time USFL second team. He joined the Vikings in 1985 and as a rookie led the team with 11 sacks as a defensive end and followed with 10.5 in 1986.
Millard moved to defensive tackle, and in 1989, set what remains an NFL record for sacks by an interior lineman, registering 18 en route to his second consecutive Pro Bowl invitation and third consecutive All Pro honor. He also earned his second consecutive NFL Defensive Lineman of the Year award in 1989 and was named NFL Defensive Player of the Year.
Before joining the Denver staff, Millard served as defensive line coach of the XFL's San Francisco Demons in 2001. Millard began his coaching career in 1996 as defensive line coach at Fort Lewis College in Durango, Colorado, and then served as defensive coordinator/linebackers coach at Menlo College in Atherton, California, from 1997-2000. He was defensive line coach for the West team in the 2002 East-West Shrine All-Star Game.
Millard also had NFL playing stints with Seattle (1992), Green Bay (1992) and Philadelphia (1993). He played in 93 career games and posted 58 sacks, two interceptions and one touchdown on a fumble return.
After starring at Foothill High School in Pleasanton, Millard played at Washington State where he earned first-team All-Pac-10 honors as a senior and won the Morris Trophy as the Pac-10's top defensive lineman.