Millman received a standing ovation as he left Arthur Ashe Stadium, and rightly so - the last time a male Australian tennis player reached a quarter-final at Flushing Meadows was Lleyton Hewitt 12 years ago at the 2006 Open.
Djokovic, the victor in 2011 and 2015, faces Kei Nishikori in Friday's semi-finals, his 11th successive appearance in the last-four.
The No. 21-seeded Nishikori continued his strong season after returning from a wrist injury that forced him to miss the US Open previous year.
She also played the longest Grand Slam match for a woman that year, overcoming six match points to beat Svetlana Kuznetsova 6-4, 1-6, 16-14 in 4 hours, 44 minutes in the fourth round of the Australian Open. "Just trying to hang in there, trying to find a way to win the match". This will be Keys' second consecutive semifinal appearance at the US Open.
The unseeded Australian, who had sensationally dumped out Roger Federer in the previous round, was no match for the Serb, who always had the upper hand as he ran out a 6-3, 6-4, 6-4 victor to make his 11th straight U.S. open semi-final.
Osaka's next opponent will likely be her toughest yet, as she's set to face Madison Keys in the semifinals. "I like to play always with the No. 1of the world, doesn't matter the tournament or the conditions or the weather".
To get to Saturday's championship match, 20th seed Osaka will have to get past United States 14th seed Madison Keys who breezed past Spain's Carla Suarez Navarro 6-4, 6-3.
I know I have to be at my best in order to compete with him from the baseline.
The No. 20 seed moved from Japan to NY at age 3, and her deepest major run is coming at the same tournament she first visited as a child.
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Keys has made it this far in a major for the fourth time in her career.
"(We were) struggling at the end of the first set", he said.
Djokovic said the tournament needs to address the problem of air-conditioning in an arena which can hold nearly 25,000 people.
Keys, the runner-up to Sloane Stephens past year, took her record over Suarez Navarro to 4-0 thanks to a break in the ninth game of the first set and sixth of the second.
"I asked the chair umpire whether they are using some form of ventilation or air conditioning down at the court-level side, and then he says that he's not aware of it, only what comes through the hallways".
Osaka becomes the first Japanese woman in a Grand Slam semifinal since Kimiko Date at Wimbledon in 1996.
Like his match against Federer, Millman fell behind early against Djokovic.
But Djokovic composed himself to break again for 5-4 and this time made no mistake, moving through to the semi-finals for the 11th straight time he has competed here.
"I can only talk about myself", Djokovic said. Djokovic got an early break and was cruising.
"I try to fight every point". He was able to come through on only four of his 20 break points.