Millsap is a town in Parker County, Texas, United States. Its population was 370 at the 2020 census. Originally, Millsap was established as a relay station on the stagecoach route that ran from Weatherford to Palo Pinto. The town was named for Fuller Millsap, who moved to Texas in 1849 and to Parker County in 1856. A Millsap post office opened in 1877.
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