Millbrook, on account of its situation, lying as it does on a range of hills which intersect the parish, whose slopes are covered with woodlands, has been described as one of the most beautiful villages in England. It stands about 360 ft. above ordnance datum, and at its southern end, near Warren Farm, a magnificent view can be obtained of the surrounding country. The land slopes away to the north, where the vale of Bedford begins and falls to 200 ft.

The parish comprises an area of 1,783 acres, of which 373 are arable lands, 595 are in permanent grass, whilst woods and plantations cover 225 acres. (fn. 1) The soil is chiefly of a light sandy nature, though on the north side of the village it changes in places to a strong clay, which is worked in pits. The whole of the subsoil is sand.